74 lines
3.0 KiB
C++
74 lines
3.0 KiB
C++
#ifndef EVAL_H
|
|
#define EVAL_H
|
|
|
|
#include "EvalBase.h"
|
|
#include "../DijkstraMapper.h"
|
|
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdate.h>
|
|
#include <Indoor/grid/walk/GridWalkRandomHeadingUpdateAdv.h>
|
|
#include <Indoor/grid/walk/GridWalkPushForward.h>
|
|
#include <Indoor/grid/walk/GridWalkLightAtTheEndOfTheTunnel.h>
|
|
#include <KLib/math/filter/particles/resampling/ParticleFilterResamplingSimple.h>
|
|
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationWeightedAverage.h>
|
|
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationRegionalWeightedAverage.h>
|
|
#include <KLib/math/filter/particles/estimation/ParticleFilterEstimationOrderedWeightedAverage.h>
|
|
|
|
class Eval : public EvalBase {
|
|
|
|
public:
|
|
|
|
|
|
|
|
// Eval() {
|
|
|
|
|
|
// pf = new K::ParticleFilter<MyState, MyControl, MyObservation>( MiscSettings::numParticles, std::unique_ptr<MyInitializer>(new MyInitializer(grid, 1120, 150, 3*350, 90)) );
|
|
|
|
// MyGridNode& start = (MyGridNode&)grid.getNodeFor(GridPoint(500,300,floors.h0.cm()));
|
|
// MyGridNode& end = (MyGridNode&)grid.getNodeFor(GridPoint(7000,5000,floors.h3.cm()));
|
|
|
|
// //GridWalkRandomHeadingUpdate<MyGridNode>* walk = new GridWalkRandomHeadingUpdate<MyGridNode>();
|
|
// GridWalkRandomHeadingUpdateAdv<MyGridNode>* walk = new GridWalkRandomHeadingUpdateAdv<MyGridNode>();
|
|
// //GridWalkPushForward<MyGridNode>* walk = new GridWalkPushForward<MyGridNode>();
|
|
// //GridWalkLightAtTheEndOfTheTunnel<MyGridNode>* walk = new GridWalkLightAtTheEndOfTheTunnel<MyGridNode>(grid, DijkstraMapper(grid), end);
|
|
|
|
// pf->setTransition( std::unique_ptr<MyTransition>( new MyTransition(grid, *walk)) );
|
|
|
|
// sr = new SensorReader("./measurements/13/Galaxy/Path2/1433588396094.csv");
|
|
// srt = new SensorReaderTurn("./measurements/13/Galaxy/Path2/Turns.txt");
|
|
// srs = new SensorReaderStep("./measurements/13/Galaxy/Path2/Steps2.txt");
|
|
|
|
// gtw = getGroundTruthWay(*sr, floors.gtwp, way2);
|
|
|
|
// }
|
|
|
|
// //wifi also uniform dist 0/1 fuer bereiche die OK sind?
|
|
// //steps hochzaehlen weil mehr als einer in einer transition??
|
|
// //increase regional average region
|
|
|
|
// void setEval1() {
|
|
|
|
|
|
// runName = "TODO";
|
|
|
|
// // the particle filter's evaluation method
|
|
// std::unique_ptr<MyEvaluation> eval = std::unique_ptr<MyEvaluation>( new MyEvaluation() );
|
|
// eval.get()->setUsage(true, false, false, true, true);
|
|
// pf->setEvaluation( std::move(eval) );
|
|
|
|
// // resampling step?
|
|
// pf->setNEffThreshold(1.0);
|
|
// pf->setResampling( std::unique_ptr<K::ParticleFilterResamplingSimple<MyState>>(new K::ParticleFilterResamplingSimple<MyState>()) );
|
|
|
|
// // state estimation step
|
|
// //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationWeightedAverage<MyState>>(new K::ParticleFilterEstimationWeightedAverage<MyState>()));
|
|
// //pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationRegionalWeightedAverage<MyState>>(new K::ParticleFilterEstimationRegionalWeightedAverage<MyState>()));
|
|
// pf->setEstimation( std::unique_ptr<K::ParticleFilterEstimationOrderedWeightedAverage<MyState>>(new K::ParticleFilterEstimationOrderedWeightedAverage<MyState>(0.33f)));
|
|
|
|
// }
|
|
|
|
|
|
|
|
};
|
|
|
|
#endif // EVAL_H
|