src/drone.cpp
/////
/*
 * Identify person observations:
 *
 * With p = recognition_rate, identify whether person is indeed target or not.
 * If fails, person is misclassified.
 * */
Identify person observations:
With p = recognition_rate, identify whether person is indeed target or not.
If fails, person is misclassified.
Identify person observations : With p = recognition_rate identify whether person is indeed target or not . If fails person is misclassified .
int DRONE::Identify(const DRONE_STATE &droneState, int feature) const {
    int obs;
    if (Bernoulli(DRONE::RECOGNITION_RATE)){ 
        obs = droneState.Features[feature].Target ? O_TARGET : O_NOTARGET;
    }
    else{
        obs = droneState.Features[feature].Target ? O_NOTARGET : O_TARGET;
    }
    return obs;
}
int DRONE :: Identify ( const DRONE_STATE & droneState , int feature ) const { int obs ; if ( Bernoulli ( DRONE :: RECOGNITION_RATE ) ) { obs = droneState . Features [ feature ] . Target ? O_TARGET : O_NOTARGET ; } else { obs = droneState . Features [ feature ] . Target ? O_NOTARGET : O_TARGET ; } return obs ; }
Identify person observations:
 With p = recognition_rate, identify whether person is indeed target or not.
Identify person observations : With p = recognition_rate identify whether person is indeed target or not .
//Pass with noisy sensor