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// $Id$ |
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/* |
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Copyright (C) 2023 Peter Johansson |
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This file is part of the yat library, https://dev.thep.lu.se/yat |
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The yat library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU General Public License as |
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published by the Free Software Foundation; either version 3 of the |
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License, or (at your option) any later version. |
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The yat library is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU |
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General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with yat. If not, see <https://www.gnu.org/licenses/>. |
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*/ |
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#include <config.h> |
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#include "Suite.h" |
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#include <yat/statistics/KalmanFilter.h> |
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#include <yat/random/random.h> |
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#include <cassert> |
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using namespace theplu; |
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using namespace yat; |
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using statistics::KalmanFilter; |
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void test1(yat::test::Suite& suite); |
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int main(int argc, char* argv[]) |
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{ |
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yat::test::Suite suite(argc, argv); |
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try { |
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test1(suite); |
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} |
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catch (std::runtime_error& e) { |
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suite.err() << "error: " << e.what() << "\n"; |
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return EXIT_FAILURE; |
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} |
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return suite.return_value(); |
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} |
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void test1(yat::test::Suite& suite) |
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{ |
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size_t n = 3; |
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utility::Vector x(n); |
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utility::Matrix P(n, n, 0.0); |
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for (size_t i=0; i<n; ++i) |
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P(i, i) = 1e9; |
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utility::Matrix F(n, n); |
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F(0,0) = 1.0; |
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F(0,1) = 1.0; |
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F(1,1) = 1.0; |
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F(1,2) = 1.0; |
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F(2,1) = -0.1; |
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// x0 = x0 + x1 |
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// x1 = x1 + x2 |
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// x2 = -0.1*x1 |
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utility::Matrix Q(n, n); |
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Q(2, 2) = 1.0; |
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size_t m = 1; |
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utility::Vector z(m, 0.0); |
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utility::Matrix H(m, n); // { 1, 0, 0} |
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H(0, 0) = 1.0; |
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utility::Matrix R(m, m, 1.0); |
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random::Gaussian gauss; |
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KalmanFilter kalman(x, P); |
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for (size_t time = 0; time<1000; ++time) { |
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kalman.predict(F, Q)(0); |
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x = F*x; |
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x(2) += gauss(); |
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z(0) = x(0) + gauss(); |
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kalman.update(z, H, R); |
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suite.out() << time |
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<< "\t" << z(0) |
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<< "\t" << x(0) |
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<< "\t" << kalman.xhat()(0) |
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<< "; " << std::sqrt(kalman.Phat()(0,0)) |
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<< "\t" << kalman.xhat()(1) |
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<< "; " << std::sqrt(kalman.Phat()(1,1)) |
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<< "\t" << kalman.xhat()(2) |
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<< "; " << std::sqrt(kalman.Phat()(2,2)) |
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<< "\n"; |
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} |
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} |