do not use es2015 here
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1 changed files with 72 additions and 73 deletions
27
third-party/kalman.js
vendored
27
third-party/kalman.js
vendored
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@ -11,8 +11,7 @@
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class KalmanFilter {
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function KalmanFilter(params) {
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/**
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* Create 1-dimensional kalman filter
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* @param {Number} options.R Process noise
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@ -22,14 +21,13 @@ class KalmanFilter {
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* @param {Number} options.C Measurement vector
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* @return {KalmanFilter}
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*/
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constructor({R = 1, Q = 1, A = 1, B = 0, C = 1} = {}) {
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this.R = R; // noise power desirable
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this.Q = Q; // noise power estimated
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this.R = typeof params.R == "undefined" ? 1 : params.R; // noise power desirable
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this.Q = typeof params.Q == "undefined" ? 1 : params.Q; // noise power estimated
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this.A = A;
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this.C = C;
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this.B = B;
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this.A = typeof params.A == "undefined" ? 1 : params.A;
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this.C = typeof params.C == "undefined" ? 1 : params.C;
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this.B = typeof params.B == "undefined" ? 0 : params.B;
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this.cov = NaN;
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this.x = NaN; // estimated signal without noise
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}
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@ -40,8 +38,9 @@ class KalmanFilter {
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* @param {Number} u Control
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* @return {Number}
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*/
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filter(z, u = 0) {
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KalmanFilter.prototype.filter = function (z, u) {
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if (typeof u == "undefined")
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u = 0;
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if (isNaN(this.x)) {
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this.x = (1 / this.C) * z;
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this.cov = (1 / this.C) * this.Q * (1 / this.C);
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@ -67,7 +66,7 @@ class KalmanFilter {
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* Return the last filtered measurement
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* @return {Number}
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*/
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lastMeasurement() {
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KalmanFilter.prototype.lastMeasurement = function () {
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return this.x;
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}
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@ -75,7 +74,7 @@ class KalmanFilter {
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* Set measurement noise Q
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* @param {Number} noise
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*/
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setMeasurementNoise(noise) {
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KalmanFilter.prototype.setMeasurementNoise = function (noise) {
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this.Q = noise;
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}
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@ -83,7 +82,7 @@ class KalmanFilter {
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* Set the process noise R
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* @param {Number} noise
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*/
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setProcessNoise(noise) {
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KalmanFilter.prototype.setProcessNoise = function (noise) {
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this.R = noise;
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}
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}
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