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Jun 8th, 2017
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  1. double fastTs = 1.0 / 100;
  2.     double slowTs = 1.0 / 10;
  3.     Eigen::MatrixXd fastA(n, n);
  4.     Eigen::MatrixXd slowA(n, n);
  5.  
  6.     fastA << 1, fastTs, 0, 0, 1, fastTs, 0, 0, 1;
  7.     slowA << 1, slowTs, 0, 0, 1, slowTs, 0, 0, 1;
  8.  
  9.     Eigen::VectorXd FillerState(n);
  10.     FillerState << 0, 0, 0;
  11.  
  12.  
  13.  
  14. //loop
  15. for (int i = 0; i < measurements.size(); i++) { //ACTUAL MEASURED SAMPLE
  16.  
  17.         y << measurements[i];
  18.         //KalmanStates = KalmanFilter(KalmanStates, Measurement, slowTs);
  19.         kf.update(y);
  20.    
  21.         FillerState << kf.state().x();
  22.    
  23.        
  24.         for (int ji = 0; ji < 10; ji++)  // TEN PREDICTED SAMPLES
  25.         {
  26.             t += dt;   
  27.             FillerState = fastA*FillerState;
  28.         }
  29.  
  30.         //HOW DO I...
  31.        FillerMeasurements = C*FillerStates;  // ??
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