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added activity recognition to smoothing transition

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toni
2016-04-26 10:12:10 +02:00
parent ed8e37108a
commit f7e817d5e4
13 changed files with 204 additions and 183 deletions
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20
code/particles/MyEvaluation.h
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@@ -72,17 +72,19 @@ public:
}
// CONTROL!
// if (useStep) {
// weight *= stepEval.getProbability(p.state, observation.step);
// }
// if (useStep) {
// //weight *= stepEval.getProbability(p.state, observation.step);
// }
// CONTROL!
// if (useTurn) {
// weight *= turnEval.getProbability(p.state, observation.turn, true);
// CONTROL!
if (useTurn) {
//weight *= turnEval.getProbability(p.state, observation.turn, true);
// //set
// p.state.angularHeadingChange = observation.turn->delta_heading;
// }
//set
p.state.angularHeadingChange = observation.turn->delta_heading;
}
p.state.currentActivity = observation.currentActivity;
// set and accumulate
p.weight = weight;