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do not use es2015 here

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mig 2017-05-17 16:03:45 +02:00
parent 9b1b8252bb
commit 245977c2e8
1 changed files with 72 additions and 73 deletions
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27
third-party/kalman.js vendored
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@ -11,8 +11,7 @@
class KalmanFilter { function KalmanFilter(params) {
/** /**
* Create 1-dimensional kalman filter * Create 1-dimensional kalman filter
* @param {Number} options.R Process noise * @param {Number} options.R Process noise
@ -22,14 +21,13 @@ class KalmanFilter {
* @param {Number} options.C Measurement vector * @param {Number} options.C Measurement vector
* @return {KalmanFilter} * @return {KalmanFilter}
*/ */
constructor({R = 1, Q = 1, A = 1, B = 0, C = 1} = {}) {
this.R = R; // noise power desirable this.R = typeof params.R == "undefined" ? 1 : params.R; // noise power desirable
this.Q = Q; // noise power estimated this.Q = typeof params.Q == "undefined" ? 1 : params.Q; // noise power estimated
this.A = A; this.A = typeof params.A == "undefined" ? 1 : params.A;
this.C = C; this.C = typeof params.C == "undefined" ? 1 : params.C;
this.B = B; this.B = typeof params.B == "undefined" ? 0 : params.B;
this.cov = NaN; this.cov = NaN;
this.x = NaN; // estimated signal without noise this.x = NaN; // estimated signal without noise
} }
@ -40,8 +38,9 @@ class KalmanFilter {
* @param {Number} u Control * @param {Number} u Control
* @return {Number} * @return {Number}
*/ */
filter(z, u = 0) { KalmanFilter.prototype.filter = function (z, u) {
if (typeof u == "undefined")
u = 0;
if (isNaN(this.x)) { if (isNaN(this.x)) {
this.x = (1 / this.C) * z; this.x = (1 / this.C) * z;
this.cov = (1 / this.C) * this.Q * (1 / this.C); this.cov = (1 / this.C) * this.Q * (1 / this.C);
@ -67,7 +66,7 @@ class KalmanFilter {
* Return the last filtered measurement * Return the last filtered measurement
* @return {Number} * @return {Number}
*/ */
lastMeasurement() { KalmanFilter.prototype.lastMeasurement = function () {
return this.x; return this.x;
} }
@ -75,7 +74,7 @@ class KalmanFilter {
* Set measurement noise Q * Set measurement noise Q
* @param {Number} noise * @param {Number} noise
*/ */
setMeasurementNoise(noise) { KalmanFilter.prototype.setMeasurementNoise = function (noise) {
this.Q = noise; this.Q = noise;
} }
@ -83,7 +82,7 @@ class KalmanFilter {
* Set the process noise R * Set the process noise R
* @param {Number} noise * @param {Number} noise
*/ */
setProcessNoise(noise) { KalmanFilter.prototype.setProcessNoise = function (noise) {
this.R = noise; this.R = noise;
} }
}