@Override
public SensorModelResult likelihood(Context context)
throws BadProbabilityParticleFilterException {
final VehicleState state = context.getState();
final VehicleState parentState = context.getParentState();
final Observation obs = context.getObservation();
final EVehiclePhase phase = state.getJourneyState().getPhase();
final BlockStateObservation blockStateObs = state.getBlockStateObservation();
// /*-
// * TODO clean up this hack
// * We are really in-progress, but because of the
// * out-of-service headsign, we can't report it as in-progress
// */
// if (obs.hasOutOfServiceDsc() && EVehiclePhase.DEADHEAD_DURING == phase
// && (blockStateObs != null && blockStateObs.isOnTrip()))
// phase = EVehiclePhase.IN_PROGRESS;
final SensorModelResult result = new SensorModelResult("pEdge", 1d);
if (obs.getPreviousObservation() == null || parentState == null) {
if (EVehiclePhase.isActiveDuringBlock(phase)) {
result.addResultAsAnd("no prev. obs./vehicle-state(in-progress)", 1d);
} else {
result.addResultAsAnd("no prev. obs./vehicle-state", 1d);
}
return result;
}
if (obs.isAtBase()) {
result.addResultAsAnd("pNotInProgress(base)", 1d);
return result;
}
if (blockStateObs == null) {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, obs));
return result;
}
/*
* Edge Movement
*/
final boolean previouslyInactive = parentState.getBlockState() == null;
final boolean newRun =
MotionModelImpl.hasRunChanged(
parentState.getBlockStateObservation(), state.getBlockStateObservation());
final boolean hasMoved = !state.getMotionState().hasVehicleNotMoved();
if (!previouslyInactive && !newRun) {
/*
* This could be a transition from being on a trip geom to off, and vice
* versa.
*/
if (EVehiclePhase.IN_PROGRESS != phase) {
/*
* We're currently not in-progress
*/
if (EVehiclePhase.isActiveDuringBlock(phase)) {
if (state
.getBlockState()
.getBlockInstance()
.equals(parentState.getBlockState().getBlockInstance())) {
result.addResultAsAnd(
computeEdgeMovementLogProb(obs, state, parentState, hasMoved, true));
} else {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, parentState, obs));
}
} else {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, obs));
}
} else if (EVehiclePhase.IN_PROGRESS != parentState.getJourneyState().getPhase()) {
/*
* We were previously not in-progress, and now we are.
*/
if (EVehiclePhase.isActiveDuringBlock(parentState.getJourneyState().getPhase())) {
result.addResultAsAnd(
computeEdgeMovementLogProb(obs, state, parentState, hasMoved, true));
} else {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, parentState, obs));
}
} else {
/*
* We're in-progress and were before.
*/
result.addResultAsAnd(computeEdgeMovementLogProb(obs, state, parentState, hasMoved, false));
}
} else {
/*
* We have a new run, or just got one after having nothing.
*/
if (EVehiclePhase.IN_PROGRESS == phase) {
if (EVehiclePhase.isActiveDuringBlock(parentState.getJourneyState().getPhase())) {
result.addResultAsAnd(
computeEdgeMovementLogProb(obs, state, parentState, hasMoved, false));
} else {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, parentState, obs));
}
} else {
result.addResultAsAnd(computeNoEdgeMovementLogProb(state, obs));
}
}
return result;
}
private static final SensorModelResult computeNoEdgeMovementLogProb(
VehicleState state, VehicleState prevState, Observation obs)
throws BadProbabilityParticleFilterException {
final SensorModelResult result = new SensorModelResult("no-edge");
final Observation prevObs = obs.getPreviousObservation();
final double obsDistDelta = obs.getDistanceMoved();
if (ParticleFilter.getDebugEnabled()) result.addResult("dist: " + obsDistDelta, 0d);
final double expAvgDist;
final double logpDistAlong;
if (prevObs != null) {
/*
* Trying to get away with not using a real tracking filter.
* FIXME really lame. use a Kalman filter.
*/
final double obsTimeDelta = obs.getTimeDelta();
if (prevObs.getTimeDelta() != null) {
final double prevObsDistDelta = prevObs.getDistanceMoved();
final double prevObsTimeDelta = prevObs.getTimeDelta();
final double velocityEstimate = prevObsDistDelta / prevObsTimeDelta;
expAvgDist =
state.getMotionState().hasVehicleNotMoved() ? 0d : velocityEstimate * obsTimeDelta;
} else {
expAvgDist = state.getMotionState().hasVehicleNotMoved() ? 0d : _avgVelocity * obsTimeDelta;
}
if (ParticleFilter.getDebugEnabled()) result.addResult("expAvgDist: " + expAvgDist, 0d);
/*
* TODO: Is this needed?
*/
final boolean prevInProgress;
double prevOrientation;
if (prevState != null
&& prevState.getBlockState() != null
&& prevState.getJourneyState().getPhase() == EVehiclePhase.IN_PROGRESS) {
prevOrientation = prevState.getBlockState().getBlockLocation().getOrientation();
prevInProgress = true;
if (ParticleFilter.getDebugEnabled())
result.addResult("prevOrient (state): " + prevOrientation, 0d);
} else {
prevOrientation = prevObs.getOrientation();
prevInProgress = false;
if (ParticleFilter.getDebugEnabled())
result.addResult("prevOrient: " + prevOrientation, 0d);
}
final boolean isOff;
final double currentOrientation;
if (state.getBlockState() != null
&& state.getJourneyState().getPhase() == EVehiclePhase.IN_PROGRESS) {
/*
* We're entering an edge in progress, so we want to compare the
* entrance orientation to the direction of the edge
*/
isOff = false;
currentOrientation = state.getBlockState().getBlockLocation().getOrientation();
/*
* We don't want to use the obs orientation when we're considered stopped
* since gps error can reverse the orientation, making reverse
* trip transitions look reasonable.
* Similarly, if we were on a trip, use that orientation.
* TODO FIXME: we should have the orientation in the motion state, then
* we wouldn't need to evaluate this logic here.
*/
if (!state.getMotionState().hasVehicleNotMoved()) {
if (!prevInProgress) {
prevOrientation = obs.getOrientation();
}
if (ParticleFilter.getDebugEnabled())
result.addResult("new prevOrient (state): " + prevOrientation, 0d);
}
} else {
isOff = true;
currentOrientation = obs.getOrientation();
}
if (ParticleFilter.getDebugEnabled())
result.addResult("curOrient: " + currentOrientation, 0d);
final double orientDiff;
if (Double.isNaN(prevOrientation) || Double.isNaN(currentOrientation)) {
orientDiff = 0d;
} else {
orientDiff =
Angle.diff(Math.toRadians(prevOrientation), Math.toRadians(currentOrientation));
}
logpDistAlong =
UnivariateGaussian.PDF.logEvaluate(
obsDistDelta, expAvgDist, Math.pow(obsTimeDelta, 4) / 4d)
+ (isOff
? _deadheadOffProb * logVonMisesPdf(orientDiff, _deadheadConcParam)
: _inProgressProb * logVonMisesPdf(orientDiff, _deadheadEntranceConcParam));
} else {
/*
* No movement
*/
logpDistAlong = 1d;
}
result.addLogResultAsAnd("lik", logpDistAlong);
return result;
}
