- Kalman: Test: introduced dt

git-svn-id: http://moon:8086/svn/projects/HendiControl@252 fda53097-d464-4ada-af97-ba876c37ca34
2019-04-19 14:06:52 +00:00
parent bd94845152
commit 8ecb9b2ace
1 changed files with 5 additions and 3 deletions
@@ -100,9 +100,10 @@ class Kalman():

 # Main
 if __name__ == '__main__':
+	dt =1

 	params = {
-		'dt'	: 1,
+		'dt'	: dt,
 		'var_P'	: 1,
 		'var_Q'	: 0,
 		'var_R'	: 1,
@@ -115,12 +116,13 @@ if __name__ == '__main__':
 	_x2 = np.empty(0)
 	_y2 = np.empty(0)

-	seqn = range(0, 100)
+	N = int(100/dt)
+	seqn = range(0, N)

 	for n in seqn:
 		X = k.process_truth()
 		Z = k.process_measurement((X[0,0], 0))
-		Kalman.print("Z:", Z)
+		#Kalman.print("Z:", Z)
 		Xp = k.process(Z)

 		_x1 = np.append(_x1, Z[0])