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Martin Karlsson
turtlerob1
Commits
334fe5ab
Commit
334fe5ab
authored
Sep 24, 2015
by
Fredrik Bagge Carlsson
Browse files
mhm
parent
e919bd16
Changes
2
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Inline
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get_measurement.m
0 → 100644
View file @
334fe5ab
function get_measurement(dObj)
error('Not implemented yet!')
end
\ No newline at end of file
track_audio.m
View file @
334fe5ab
...
...
@@ -78,7 +78,10 @@ N = length(measuredLocations);
posteriorMean
=
zeros
(
size
(
A
,
1
),
N
);
posteriorCovariance
=
zeros
(
size
(
A
,
1
),
size
(
A
,
1
),
N
);
% Perform localization and tracking
% =======================================================
% Main loop - Perform localization and tracking
% =======================================================
for
l
=
1
:
N
audio
=
get_audio
();
dObj
=
dataObject
(
audio
,
fsHz
);
...
...
@@ -86,12 +89,7 @@ for l = 1:N
mObj
=
manager
(
dObj
,
requests
,
par
);
% Request processing
mObj
.
processSignal
();
% ===================================================
% TODO: Perform steps to get measurements inside this loop!
% ===================================================
% y = get_measurement();
y
=
measuredLocations
(
l
);
% TODO: Modify this to get a measurement!
y
=
get_measurement
(
dObj
);
% Perform Kalman filter prediction and update
[
x
,
P
]
=
kf_predict
(
x
,
P
,
A
,
Q
);
[
x
,
P
]
=
kf_update
(
x
,
P
,
y
,
c
'
,
R
);
...
...
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