Final Assignment: Group16 Submission

.gitignore

@@ -14,3 +14,4 @@
 .cxx
 local.properties
 /.idea/
+secrets.properties

app/src/main/java/com/openpositioning/PositionMe/data/remote/FloorplanApiClient.java

@@ -372,7 +372,19 @@ private List<FloorShapes> parseMapShapes(String mapShapesJson) {
             while (it.hasNext()) {
                 keys.add(it.next());
             }
-            Collections.sort(keys);
+            //Collections.sort(keys);
+            List<String> Keys = new ArrayList<>();
+            String[] physicalOrder = {"LG", "GF", "F1", "F2", "F3"};
+            for (String pKey : physicalOrder) {
+                if (root.has(pKey)) {
+                    Keys.add(pKey);
+                }
+            }
+            Iterator<String> allKeys = root.keys();
+            while (allKeys.hasNext()) {
+                String k = allKeys.next();
+                if (!Keys.contains(k)) Keys.add(k);
+            }
 
             for (String key : keys) {
                 JSONObject floorCollection = root.getJSONObject(key);

app/src/main/java/com/openpositioning/PositionMe/fusion/MapBounds.java

@@ -0,0 +1,15 @@
+package com.openpositioning.PositionMe.fusion;
+
+public class MapBounds {
+    public final float minX;
+    public final float maxX;
+    public final float minY;
+    public final float maxY;
+
+    public MapBounds(float minX, float maxX, float minY, float maxY) {
+        this.minX = minX;
+        this.maxX = maxX;
+        this.minY = minY;
+        this.maxY = maxY;
+    }
+}

app/src/main/java/com/openpositioning/PositionMe/fusion/Measurement.java

@@ -0,0 +1,14 @@
+package com.openpositioning.PositionMe.fusion;
+
+/** Represents a position measurement with an accuracy estimate. */
+public class Measurement {
+    public final float x;
+    public final float y;
+    public final double accuracy;
+
+    public Measurement(float x, float y, double accuracy) {
+        this.x = x;
+        this.y = y;
+        this.accuracy = accuracy;
+    }
+}

app/src/main/java/com/openpositioning/PositionMe/fusion/PDRMovement.java

@@ -0,0 +1,12 @@
+package com.openpositioning.PositionMe.fusion;
+
+/** Represents a planar PDR displacement for a single update step. */
+public class PDRMovement {
+    public final float deltaX;
+    public final float deltaY;
+
+    public PDRMovement(float deltaX, float deltaY) {
+        this.deltaX = deltaX;
+        this.deltaY = deltaY;
+    }
+}

app/src/main/java/com/openpositioning/PositionMe/fusion/Particle.java

@@ -0,0 +1,57 @@
+package com.openpositioning.PositionMe.fusion;
+
+import java.util.Random;
+
+/** Represents a single particle in the particle filter. */
+public class Particle {
+    float x;
+    float y;
+    public float oldX;
+    public float oldY;
+    int floor;
+    double weight;
+
+    /**
+     * Creates a particle with an initial position and floor.
+     *
+     * @param x initial x coordinate in meters
+     * @param y initial y coordinate in meters
+     * @param floor initial floor index
+     */
+    public Particle(float x, float y, int floor) {
+        this.x = x;
+        this.y = y;
+        this.oldX = x;
+        this.oldY = y;
+        this.floor = floor;
+        this.weight = 1.0;
+    }
+
+    /**
+     * Moves the particle using the default motion noise.
+     *
+     * @param deltaX movement along the x axis in meters
+     * @param deltaY movement along the y axis in meters
+     * @param random random source used to sample motion noise
+     */
+    public void move(float deltaX, float deltaY, Random random) {
+        move(deltaX, deltaY, random, 0.03f);
+    }
+
+    /**
+     * Moves the particle and adds Gaussian motion noise.
+     *
+     * @param deltaX movement along the x axis in meters
+     * @param deltaY movement along the y axis in meters
+     * @param random random source used to sample motion noise
+     * @param noiseStdDev standard deviation of the motion noise in meters
+     */
+    public void move(float deltaX, float deltaY, Random random, float noiseStdDev) {
+        this.oldX = this.x;
+        this.oldY = this.y;
+        this.x += deltaX;
+        this.y += deltaY;
+        this.x += random.nextGaussian() * noiseStdDev;
+        this.y += random.nextGaussian() * noiseStdDev;
+    }
+}