From 6621bd64472f90f5277f5eb0452c4796c56829cc Mon Sep 17 00:00:00 2001
From: Fredrik Bagge Carlsson <fredrikb@nichols.control.lth.se>
Date: Thu, 24 Sep 2015 11:57:02 +0200
Subject: [PATCH] prepare for getting measurements
---
track_audio.m | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/track_audio.m b/track_audio.m
index 7d8a3e7..d79be79 100644
--- a/track_audio.m
+++ b/track_audio.m
@@ -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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