comparison bayesianArraySrc/BayesianArrayStructure.cpp @ 5:5ef00d1dfe68

cross update checked and working

 	speedEstimate = speedPriorValue;
 	
 	lastEventTime = 0;//ofGetElapsedTimeMillis();
 
 	tmpBestEstimate = 0;
-	crossUpdateTimeThreshold = 60000;
+	crossUpdateTimeThreshold = 60;
 	priorWidth = 20;
 	
 }
 
 BayesianArrayStructure::BayesianArrayStructure(int length){

 	printf("CROSS UPDATE time diff %f ms is %f units; ", timeDifference, timeDifferenceInPositionVectorUnits);
 	prior.zero();//kill prior
 	
 //	calculateNewPriorOffset(timeDifference);//dioesnt do anything
 	
-	printf("new prior offset %f and post offset %f\n", prior.offset, posterior.offset);
+//	printf("new prior offset %f and post offset %f\n", prior.offset, posterior.offset);
 	
 	if (timeDifferenceInPositionVectorUnits > crossUpdateTimeThreshold)
 		complexCrossUpdate(timeDifferenceInPositionVectorUnits);
 	else
 		translateByMaximumSpeed(timeDifferenceInPositionVectorUnits);	

 
 }
 
 void BayesianArrayStructure::complexCrossUpdate(const double& timeDifferenceInPositionVectorUnits){
 
+	
+	printf("before cross c : posterior map is %i = %f ms time diff pos vec %f\n", posterior.getMAPestimate(), posterior.getIndexInRealTerms(prior.getMAPestimate()), timeDifferenceInPositionVectorUnits);
+	
 	int distanceMoved, newPriorIndex;
 	
 	double speedValue = relativeSpeedPosterior.offset;
 	
 	for (int i = 0;i < relativeSpeedPosterior.arraySize;i++){
 		
 	//	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(i);//so for scalar 0.01, 50 -> speed value of 0.5
 		
 		//so we have moved 
 		distanceMoved = round(timeDifferenceInPositionVectorUnits * speedValue);//round the value
-	
+	//	printf("Speed value %f time %f gives distance %i\n", speedValue, timeDifferenceInPositionVectorUnits, distanceMoved);
+		
 		if (relativeSpeedPosterior.array[i] != 0){
 			
 			double speedContribution = relativeSpeedPosterior.array[i];
 			
 		//	printf("speed [%i](val[%f]) gives %f moved %i in %f units \n", i, relativeSpeedPosterior.array[i], speedValue, distanceMoved, timeDifferenceInPositionVectorUnits);
 			
 			//1/2/12 deleted line
 			newPriorIndex = posterior.offset - prior.offset + distanceMoved;//i.e. where post[0] goes to in terms of prior at this speed
-			int postIndex = 0;
+			int postIndex = 0;//index of posterior that will contribute
+			
 			while (postIndex < posterior.arraySize && newPriorIndex < prior.arraySize){
 
 			//did use a for loop
 			//	for (postIndex = 0;postIndex < posterior.arraySize;postIndex++){
 				//old posterior contributing to new prior

 				postIndex++;
 			}//end for. now while
 			
 			
 		}//if not zero
-		speedValue += relativeSpeedPosterior.scalar;
-		//optimised line
+		
+		speedValue += relativeSpeedPosterior.scalar;//optimised line
 		//as we wanted:
 		//	double speedValue = relativeSpeedPosterior.getIndexInRealTerms(i);//so for scalar 0.01, 50 -> speed value of 0.5
+		
 	}//end speed
+	
+	
+	printf("after cross c : prior map is %i = %f ms\n", prior.getMAPestimate(), prior.getIndexInRealTerms(prior.getMAPestimate()));
 }
 
 
 
 void BayesianArrayStructure::translateByMaximumSpeed(const double& timeDifferenceInPositionVectorUnits){