Commit 6621bd64 authored by Fredrik Bagge Carlsson's avatar Fredrik Bagge Carlsson
Browse files

prepare for getting measurements

parent 2fe2987d
......@@ -67,13 +67,13 @@ posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
for l = 1:N
% ===================================================
% Perform steps to get measurements inside this loop!
% TODO: Perform steps to get measurements inside this loop!
% ===================================================
% y = get_measurement();
y = measuredLocations(l); % TODO: Modify this to get a measurement!
% Perform Kalman filter prediction and update
[x, P] = kf_predict(x, P, A, Q);
[x, P] = kf_update(x, P, measuredLocations(l), c', R);
[x, P] = kf_update(x, P, y, c', R);
posteriorMean(:, l) = x;
posteriorCovariance(:, :, l) = P;
......
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