Commit 334fe5ab authored by Fredrik Bagge Carlsson's avatar Fredrik Bagge Carlsson
Browse files

mhm

parent e919bd16
function get_measurement(dObj)
error('Not implemented yet!')
end
\ No newline at end of file
......@@ -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);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment