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Work on filter.

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jgoppert 2015-11-04 20:56:44 -05:00
parent 52956e360a
commit 76cf91c5fd
2 changed files with 9 additions and 6 deletions
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1
CMakeLists.txt
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@ -22,6 +22,7 @@ set(CMAKE_CXX_FLAGS
-Wall
-Weffc++
-Werror
-std=c++11
#-Wfatal-errors
)

14
test/filter.cpp
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@ -10,17 +10,19 @@ int main()
{
const size_t n_x = 6;
const size_t n_y = 5;
SquareMatrix<float, n_x> P = eye<float, n_x>()*0.1;
SquareMatrix<float, n_y> R = eye<float, n_y>()*0.1;
SquareMatrix<float, n_x> P = eye<float, n_x>();
SquareMatrix<float, n_y> R = eye<float, n_y>();
Matrix<float, n_y, n_x> C;
C(0,0) = 1;
Vector<float, n_y> r;
r.setZero();
r(0) = 1;
C.setIdentity();
float data[] = {1,2,3,4,5};
Vector<float, n_y> r(data);
Vector<float, n_x> dx;
float beta = 0;
kalman_correct<float, 6, 5>(P, C, R, r, dx, beta);
dx.print();
return 0;
}