mhm

get_measurement.m

+function get_measurement(dObj)
+error('Not implemented yet!')
+
+end 
\ No newline at end of file

track_audio.m

@@ -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);