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35 lines
756 B
35 lines
756 B
#include "filter.hpp" |
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#include <assert.h> |
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#include <stdio.h> |
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using namespace matrix; |
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template class Vector<float, 5>; |
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int main() |
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{ |
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const size_t n_x = 6; |
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const size_t n_y = 5; |
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SquareMatrix<float, n_x> P = eye<float, n_x>(); |
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SquareMatrix<float, n_y> R = eye<float, n_y>(); |
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Matrix<float, n_y, n_x> C; |
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C.setIdentity(); |
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float data[] = {1,2,3,4,5}; |
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Vector<float, n_y> r(data); |
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Vector<float, n_x> dx; |
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float beta = 0; |
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kalman_correct<float, 6, 5>(P, C, R, r, dx, beta); |
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dx.T().print(); |
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printf("beta: %g\n", beta); |
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float data_check[] = {0.5,1,1.5,2,2.5,0}; |
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Vector<float, n_x> dx_check(data_check); |
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assert(dx == dx_check); |
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return 0; |
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} |
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/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
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