TEST (KalmanFilterTest, Works) {
KalmanFilter *kf = new KalmanFilter(true);
ufvector4 initX = boost::numeric::ublas::zero_vector<float> (4);
initX(0) = 50.f;
initX(1) = 0.f;
initX(2) = 0.f;
initX(3) = 0.f;
ufmatrix4 initCov = boost::numeric::ublas::identity_matrix<float> (4);
initCov(0,0) = 5.f;
initCov(1,1) = 5.f;
initCov(2,2) = 0.f;
initCov(3,3) = 0.f;
kf->initialize(initX, initCov);
kf->predict(kf->genOdometry(-5.f, 0.f, 0.f),10.f);
kf->updateWithObservation(kf->genVisBall(58.f, 0.f));
kf->predict(kf->genOdometry(0.f, 0.f, 0.f),.1f);
kf->updateWithObservation(kf->genVisBall(55.f, .05f));
kf->predict(kf->genOdometry(0.f, 0.f, 0.f),.1f);
kf->updateWithObservation(kf->genVisBall(55.f, .05f));
kf->predict(kf->genOdometry(0.f, 0.f, 0.f),.1f);
kf->updateWithObservation(kf->genVisBall(55.f, .05f));
kf->predict(kf->genOdometry(0.f, 0.f, 0.f),.1f);
kf->updateWithObservation(kf->genVisBall(83.f, .05f));
}
TEST (KalmanFilterTest, MMWorks) {
MMKalmanFilter *kf = new MMKalmanFilter();
KalmanFilter *poor = new KalmanFilter();
kf->initialize(50.f, 0.f, 5.f, 5.f);
messages::Motion inpMotion;
inpMotion.mutable_odometry()->CopyFrom(poor->genOdometry(0.f,0.f,0.f));
kf->update(poor->genVisBall(55.5f, 0.f),
inpMotion);
kf->update(poor->genVisBall(62.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(64.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(71.f, 0.f),
inpMotion);
kf->printEst();
/*
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(74.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(76.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
kf->update(poor->genVisBall(75.f, 0.f),
inpMotion);
*/
}
