private double _presetSl; //Used for predicting path with only direction
#endregion Fields
#region Constructors
/// <summary>
/// Constructor of class NaviEngine.
/// </summary>
/// <param name="presl">Preset step length</param>
/// <param name="precb">Preset campass bias</param>
/// <param name="cellLength">Preset cell length</param>
/// <param name="iniRange">Preset particle cloud radius</param>
/// <param name="parNum">Number of particles using in the particle filter</param>
public NaviEngine(double presl,
double precb,
double cellLength,
double iniRange,
int parNum)
{
StepId = 0;
Radius = 0;
_presetSl = presl;
StepLength = presl;
CampassBias = precb;
_gp = new GaussianProcess(10000, 1);
_pf = new ParticleFilter(presl, precb, cellLength, iniRange, parNum, _gp);
Paths = new Dictionary<string, Dictionary<int, double[]>>
{
{"predict", PredictedPath = new Dictionary<int, double[]>()},
{"inertia", InertiaPath = new Dictionary<int, double[]>()},
{"real", RealPath = new Dictionary<int, double[]>()}
};
}
public ParticleFilter(double presl,
double precb,
double cellL,
double iniRange,
int parNum,
GaussianProcess gp)
{
_historyRss = new Dictionary<int, Dictionary<string, double>>();
_og = new OccupancyGrid(cellL);
_iniRange = iniRange;
_preStepLength = presl;
_preCampBias = precb;
_parNum = parNum;
_gp = gp;
}