X-Git-Url: https://fleuret.org/cgi-bin/gitweb/gitweb.cgi?a=blobdiff_plain;f=mtp.cc;h=e330ce3c57c79475b1c1fa3af0375c02e96da45b;hb=ea33e3e5dddbe3796d2361910e1e3ed98a19865c;hp=bd6d2965fde899744d708c1ce651513e5be31950;hpb=455e5736828233445ac8aea8f15b3bde7e16e9bf;p=mtp.git

diff --git a/mtp.cc b/mtp.cc
index bd6d296..e330ce3 100644
--- a/mtp.cc
+++ b/mtp.cc
@@ -49,25 +49,30 @@ void find_best_paths(int nb_vertices,
 //////////////////////////////////////////////////////////////////////
 
 int main(int argc, char **argv) {
-  int nb_locations = 3;
-  int nb_time_steps = 4;
+  int nb_locations = 4;
+  int nb_time_steps = 3;
 
-  Tracker tracker(nb_time_steps, nb_locations);
+  {
+    Tracker tracker(nb_time_steps, nb_locations);
 
-  for(int l = 0; l < nb_locations; l++) {
-    for(int k = 0; k < nb_locations; k++) {
-      if(abs(l - k) <= 1) tracker.set_allowed_motion(l, k);
+    for(int l = 0; l < nb_locations; l++) {
+      for(int k = 0; k < nb_locations; k++) {
+        tracker.set_allowed_motion(l, k, abs(l - k) <= 1);
+      }
     }
-  }
 
-  for(int t = 0; t < nb_time_steps; t++) {
-    for(int l = 0; l < nb_locations; l++) {
-      tracker.set_detection_score(t, l, -1.0);
+    for(int t = 0; t < nb_time_steps; t++) {
+      for(int l = 0; l < nb_locations; l++) {
+        tracker.set_detection_score(t, l,
+                                    (drand48() < 0.95 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
+      }
+      tracker.set_detection_score(t, 0,
+                                  (drand48() < 0.95 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
     }
-    tracker.set_detection_score(t, 0, 1.0);
-  }
 
-  tracker.track();
+    tracker.build_graph();
+    tracker.track();
+  }
 
   exit(0);
 
@@ -100,10 +105,10 @@ int main(int argc, char **argv) {
                     source, sink,
                     result_edge_occupation);
 
-    dot_print(nb_vertices, nb_edges,
-              vertex_from, vertex_to, edge_lengths,
-              source, sink,
-              result_edge_occupation);
+    // dot_print(nb_vertices, nb_edges,
+              // vertex_from, vertex_to, edge_lengths,
+              // source, sink,
+              // result_edge_occupation);
 
     delete[] result_edge_occupation;
     delete[] edge_lengths;