- // int nb_locations = 6;
- // int nb_time_steps = 5;
-
- // {
- // Tracker tracker(nb_time_steps, nb_locations);
-
- // 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,
- // (drand48() < 0.9 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
- // }
- // tracker.set_detection_score(t, 0,
- // (drand48() < 0.9 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
- // }
-
- // tracker.build_graph();
- // tracker.track();
- // }
-
- // exit(0);
+ int nb_locations = 6;
+ int nb_time_steps = 5;
+
+ {
+ Tracker tracker(nb_time_steps, nb_locations);
+
+ 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,
+ (drand48() < 0.9 ? -1.0 : 1.0) + drand48() * 0.1 - 0.05);
+ }
+ tracker.set_detection_score(t, 0,
+ (drand48() < 0.9 ? 1.0 : -1.0) + drand48() * 0.1 - 0.05);
+ }
+
+ tracker.build_graph();
+ tracker.track();
+ }
+
+ exit(0);