From fcd31692b811ff6cc1466302f8ef037b223c52bd Mon Sep 17 00:00:00 2001 From: Dan Barladeanu Date: Thu, 3 Jun 2021 21:54:38 +0300 Subject: [PATCH 1/2] Comments Only. Added Kalman Filter definitions in test_KalmanFilter.py --- python/gtsam/tests/test_KalmanFilter.py | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/python/gtsam/tests/test_KalmanFilter.py b/python/gtsam/tests/test_KalmanFilter.py index 48a91b96cc..83aa20056a 100644 --- a/python/gtsam/tests/test_KalmanFilter.py +++ b/python/gtsam/tests/test_KalmanFilter.py @@ -19,6 +19,21 @@ class TestKalmanFilter(GtsamTestCase): def test_KalmanFilter(self): + + # Kalman Filter Definitions: + # + # F - State Transition Model + # B - Control Input Model + # u - Control Vector + # modelQ - Covariance of the process Noise (input for KalmanFilter object) - sigma as input + # Q - Covariance of the process Noise (for reference calculation) - sigma^2 as input + # H - Observation Model + # z1 - Observation iteration 1 + # z2 - Observation iteration 2 + # z3 - observation iteration 3 + # modelR - Covariance of the observation Noise (input for KalmanFilter object) - sigma as input + # R - Covariance of the observation Noise (for reference calculation) - sigma^2 as input + F = np.eye(2) B = np.eye(2) u = np.array([1.0, 0.0]) From c7dd909ea5494819dcf5837cc64ce788bd2b5967 Mon Sep 17 00:00:00 2001 From: Dan Barladeanu Date: Thu, 3 Jun 2021 23:17:35 +0300 Subject: [PATCH 2/2] fix comment to docstring --- python/gtsam/tests/test_KalmanFilter.py | 28 ++++++++++++------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/python/gtsam/tests/test_KalmanFilter.py b/python/gtsam/tests/test_KalmanFilter.py index 83aa20056a..b13d5b2246 100644 --- a/python/gtsam/tests/test_KalmanFilter.py +++ b/python/gtsam/tests/test_KalmanFilter.py @@ -19,20 +19,20 @@ class TestKalmanFilter(GtsamTestCase): def test_KalmanFilter(self): - - # Kalman Filter Definitions: - # - # F - State Transition Model - # B - Control Input Model - # u - Control Vector - # modelQ - Covariance of the process Noise (input for KalmanFilter object) - sigma as input - # Q - Covariance of the process Noise (for reference calculation) - sigma^2 as input - # H - Observation Model - # z1 - Observation iteration 1 - # z2 - Observation iteration 2 - # z3 - observation iteration 3 - # modelR - Covariance of the observation Noise (input for KalmanFilter object) - sigma as input - # R - Covariance of the observation Noise (for reference calculation) - sigma^2 as input + """ + Kalman Filter Definitions: + F - State Transition Model + B - Control Input Model + u - Control Vector + modelQ - Covariance of the process Noise (input for KalmanFilter object) - sigma as input + Q - Covariance of the process Noise (for reference calculation) - sigma^2 as input + H - Observation Model + z1 - Observation iteration 1 + z2 - Observation iteration 2 + z3 - observation iteration 3 + modelR - Covariance of the observation Noise (input for KalmanFilter object) - sigma as input + R - Covariance of the observation Noise (for reference calculation) - sigma^2 as input + """ F = np.eye(2) B = np.eye(2)