range_bearing.cpp

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#include <stdlib.h>
#include <iostream>
#include <fstream>
#include <gmapping/utils/point.h>
#include "gmapping/particlefilter/particlefilter.h"
 
using namespace std;
using namespace GMapping;
 
#define test(s) {cout << s <<  " " << flush;}
#define testOk() {cout << "OK" << endl;}
 
struct Particle{
        Particle(): p(0,0), w(0){}
        Point p;
        double w;
        operator double() const {return w; }
        void setWeight(double _w) {w=_w;}
};
 
ostream& printParticles(ostream& os, const vector<Particle>& p)
{
        for (vector<Particle>::const_iterator it=p.begin(); it!=p.end(); ++it) {
                os << it->p.x << " " << it->p.y << endl;
        }
        return os;
}
 
struct EvolutionModel{
        Particle evolve(const Particle& p){
                Particle pn(p);
                pn.p.x+=10*(drand48()-.5);
                pn.p.y+=10*(drand48()-.5);
                return pn;
        }
};
 
 
struct LikelyhoodModel{
        std::vector<Point> observerVector;
        std::vector<double> observations;
        double sigma;
        double likelyhood(const Particle& p) const{
                double v=1;
                std::vector<double>::const_iterator oit=observations.begin();
                for (std::vector<Point>::const_iterator it=observerVector.begin(); it!=observerVector.end();it++){
                        v*=exp(-pow(((p.p-*it)*(p.p-*it)-*oit*(*oit))/sigma, 2));
                        oit++;
                }
                cout << "#v=" << v << endl;
                return v;
        }
};
 
int main (unsigned int argc, const char * const * argv){
        vector<Particle> particles(1000);
        LikelyhoodModel likelyhoodModel;
        uniform_resampler<Particle, double> resampler;
        evolver <Particle, EvolutionModel> evolver;
 
        for (vector<Particle>::iterator it=particles.begin(); it!=particles.end(); it++){
                it->w=1;
                it->p.x=400*(drand48()-.5);
                it->p.y=400*(drand48()-.5);
        }
        
        vector<Point> sensors;
        
        sensors.push_back(Point(-50,0));
        sensors.push_back(Point(50,0));
        sensors.push_back(Point(0,100));
        
        likelyhoodModel.sigma=1000;
        likelyhoodModel.observations.push_back(70);
        likelyhoodModel.observations.push_back(70);
        likelyhoodModel.observations.push_back(70);
        
        likelyhoodModel.observerVector=sensors;
        while (1){
                char buf[2];
                cin.getline(buf,2);
                vector<Particle> newgeneration;
 
                cout << "# SIR step" << endl;
                evolver.evolve(particles);
                for (vector<Particle>::iterator it=particles.begin(); it!=particles.end(); it++){
                        it->w*=likelyhoodModel.likelyhood(*it);
                }
                
                ofstream os("sir.dat");
                printParticles(os, particles);
                os.close();
                vector<Particle> newpart=resampler.resample(particles);
                particles=newpart;
 
                cout << "plot [-200:200][-200:200]\"sir.dat\" w p" << endl;
        }
}