Package com.irurueta.numerical.signal.processing

Class KalmanFilterTest

java.lang.Object

com.irurueta.numerical.signal.processing.KalmanFilterTest

class KalmanFilterTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final String	ACCELERATION_MOTION
private static final String	ACCELERATION_MOTION_FAST
private static final String	ACCELERATION_NO_MOTION
private static final String	ACCELERATION_NO_MOTION_FAST
private static final String	CSV_FILE_MOTION
private static final String	CSV_FILE_MOTION_FAST
private static final String	CSV_FILE_NO_MOTION
private static final String	CSV_FILE_NO_MOTION_FAST
private static final boolean	DO_NOT_SKIP
private static final int	N_SAMPLES
private static final int	TIMES
private static final boolean	WRITE_TO_CONSOLE

Constructor Summary

Constructors

Constructor	Description
KalmanFilterTest()

Method Summary

Modifier and Type	Method	Description
private static com.irurueta.algebra.Matrix	noiseCovarianceMatrix(AccelerationFileLoader.Data data)
(package private) void	testConstructor()
(package private) void	testGetSetControlMatrix()
(package private) void	testGetSetErrorCovPost()
(package private) void	testGetSetErrorCovPre()
(package private) void	testGetSetGain()
(package private) void	testGetSetMeasurementMatrix()
(package private) void	testGetSetMeasurementNoiseCov()
(package private) void	testGetSetMeasureParameters()
(package private) void	testGetSetProcessNoiseCov()
(package private) void	testGetSetStatePost()
(package private) void	testGetSetStatePre()
(package private) void	testGetSetTransitionMatrix()
(package private) void	testPredictAndCorrectAcceleration()
(package private) void	testPredictAndCorrectPositionSpeedAndAcceleration()
(package private) void	testPredictAndCorrectPositionSpeedAndAcceleration3D()
(package private) void	testPredictAndCorrectRealDataMotion()
(package private) void	testPredictAndCorrectRealDataMotionFast()
(package private) void	testPredictAndCorrectRealDataNoMotion()
(package private) void	testPredictAndCorrectRealDataNoMotionFast()
private static void	updateProcessNoiseCov(double processNoiseVariance, double deltaTime, com.irurueta.algebra.Matrix block, com.irurueta.algebra.Matrix result)
private static void	updateTransitionMatrix(double deltaTime, com.irurueta.algebra.Matrix result)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

N_SAMPLES

private static final int N_SAMPLES

See Also:

• Constant Field Values

WRITE_TO_CONSOLE

private static final boolean WRITE_TO_CONSOLE

See Also:

• Constant Field Values

DO_NOT_SKIP

private static final boolean DO_NOT_SKIP

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

ACCELERATION_MOTION

private static final String ACCELERATION_MOTION

See Also:

• Constant Field Values

ACCELERATION_NO_MOTION

private static final String ACCELERATION_NO_MOTION

See Also:

• Constant Field Values

CSV_FILE_MOTION

private static final String CSV_FILE_MOTION

See Also:

• Constant Field Values

CSV_FILE_NO_MOTION

private static final String CSV_FILE_NO_MOTION

See Also:

• Constant Field Values

ACCELERATION_MOTION_FAST

private static final String ACCELERATION_MOTION_FAST

See Also:

• Constant Field Values

ACCELERATION_NO_MOTION_FAST

private static final String ACCELERATION_NO_MOTION_FAST

See Also:

• Constant Field Values

CSV_FILE_MOTION_FAST

private static final String CSV_FILE_MOTION_FAST

See Also:

• Constant Field Values

CSV_FILE_NO_MOTION_FAST

private static final String CSV_FILE_NO_MOTION_FAST

See Also:

• Constant Field Values

Constructor Details

KalmanFilterTest

KalmanFilterTest()

Method Details

testConstructor

@Test
void testConstructor()
              throws com.irurueta.numerical.signal.processing.SignalProcessingException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

testGetSetMeasureParameters

@Test
void testGetSetMeasureParameters()
                          throws com.irurueta.numerical.signal.processing.SignalProcessingException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

testPredictAndCorrectAcceleration

@Test
void testPredictAndCorrectAcceleration()
                                throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectPositionSpeedAndAcceleration

@Test
void testPredictAndCorrectPositionSpeedAndAcceleration()
                                                throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectPositionSpeedAndAcceleration3D

@Test
void testPredictAndCorrectPositionSpeedAndAcceleration3D()
                                                  throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectRealDataNoMotion

@Test
void testPredictAndCorrectRealDataNoMotion()
                                    throws IOException,
com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

IOException

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectRealDataMotion

@Test
void testPredictAndCorrectRealDataMotion()
                                  throws IOException,
com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

IOException

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectRealDataNoMotionFast

@Test
void testPredictAndCorrectRealDataNoMotionFast()
                                        throws IOException,
com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

IOException

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testPredictAndCorrectRealDataMotionFast

@Test
void testPredictAndCorrectRealDataMotionFast()
                                      throws IOException,
com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

IOException

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetStatePre

@Test
void testGetSetStatePre()
                 throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetStatePost

@Test
void testGetSetStatePost()
                  throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetTransitionMatrix

@Test
void testGetSetTransitionMatrix()
                         throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetControlMatrix

@Test
void testGetSetControlMatrix()
                      throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetMeasurementMatrix

@Test
void testGetSetMeasurementMatrix()
                          throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetProcessNoiseCov

@Test
void testGetSetProcessNoiseCov()
                        throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetMeasurementNoiseCov

@Test
void testGetSetMeasurementNoiseCov()
                            throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetErrorCovPre

@Test
void testGetSetErrorCovPre()
                    throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetGain

@Test
void testGetSetGain()
             throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

testGetSetErrorCovPost

@Test
void testGetSetErrorCovPost()
                     throws com.irurueta.numerical.signal.processing.SignalProcessingException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

com.irurueta.algebra.WrongSizeException

updateProcessNoiseCov

private static void updateProcessNoiseCov(double processNoiseVariance,
 double deltaTime,
 com.irurueta.algebra.Matrix block,
 com.irurueta.algebra.Matrix result)

updateTransitionMatrix

private static void updateTransitionMatrix(double deltaTime,
 com.irurueta.algebra.Matrix result)

noiseCovarianceMatrix

private static com.irurueta.algebra.Matrix noiseCovarianceMatrix(AccelerationFileLoader.Data data)
                                                          throws com.irurueta.numerical.signal.processing.SignalProcessingException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException