2.0.10-Chris removed all noises

RealCabot · Nov 28, 2017 · 1938cca · 1938cca
1 parent 0a2fc6b
commit 1938cca
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Showing 2 changed files with 8 additions and 6 deletions.
diff --git a/ble-cpp/src/model/PoseRandomWalker.cpp b/ble-cpp/src/model/PoseRandomWalker.cpp
@@ -60,8 +60,9 @@ namespace loc{
         //std::cout << "predict: dTime=" << dTime << ", nSteps=" << nSteps << std::endl;
 
         // Perturb variables in State
-        if(nSteps>0 || mProperty->doesUpdateWhenStopping() ){
-            state.orientationBias(state.orientationBias() + stateProperty->diffusionOrientationBias()*randomGenerator.nextGaussian()*dTime);  // removed by Chris
+        if(nSteps>0 || mProperty->doesUpdateWhenStopping()){
+            state.orientationBias(state.orientationBias());  // removed by Chris  + stateProperty->diffusionOrientationBias()*randomGenerator.nextGaussian()*dTime
+
             state.rssiBias(randomGenerator.nextTruncatedGaussian(state.rssiBias(),
                                                                  stateProperty->diffusionRssiBias()*dTime,
                                                                  stateProperty->minRssiBias(),
@@ -88,10 +89,11 @@ namespace loc{
         double nV = state.normalVelocity();
         if(nSteps >0 || mProperty->doesUpdateWhenStopping()){
             // double mean, double std, double min, double max
-            nV = randomGenerator.nextTruncatedGaussian(encoderInfo.getVelocity(),  // used to be state.normalVelocity()  // encoderInfo.getVelocity()
+            /*nV = randomGenerator.nextTruncatedGaussian(encoderInfo.getVelocity(),  // used to be state.normalVelocity()  // encoderInfo.getVelocity()
                                                        poseProperty->diffusionVelocity()*dTime,
                                                        poseProperty->minVelocity(),
-                                                       poseProperty->maxVelocity());
+                                                       poseProperty->maxVelocity());*/
+            nV = encoderInfo.getVelocity();
             state.normalVelocity(nV);
         }
 

diff --git a/bleloc.podspec b/bleloc.podspec
@@ -1,6 +1,6 @@
 Pod::Spec.new do |s|
   s.name         = "bleloc"
-  s.version      = "2.0.9-Yanda"
+  s.version      = "2.0.10-Chris"
   s.summary      = "Localization library"
   s.homepage     = "https://github.com/realCabot/"
   s.description  = <<-DESC
@@ -9,7 +9,7 @@ This is a localization library for bluetooth le beacons.
 
   s.license      = "MIT"
   s.author    = "realCabot"
-  s.source       = { :http => "http://github.com/RealCabot/blelocpp/releases/download/2.0.9-Yanda/bleloc.framework.zip" }
+  s.source       = { :http => "http://github.com/RealCabot/blelocpp/releases/download/2.0.10-Chris/bleloc.framework.zip" }
   s.preserve_path = "bleloc.framework"
   s.vendored_frameworks = "bleloc.framework"
   s.platforms = {:ios => "8.4"}