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autonomousdriving
torcs_dl
Commits
a1a22cb5
Commit
a1a22cb5
authored
Sep 04, 2018
by
Svetlana
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Fixed KalmanFilter ports
parent
bd1c3032
Changes
2
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5 additions
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5 deletions
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-5
EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl
EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl
+2
-2
EMADL2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl
...L2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl
+3
-3
No files found.
EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl
View file @
a1a22cb5
...
...
@@ -2,14 +2,14 @@ package dp.subcomponents;
component
KalmanFilter
{
ports
in
Q
^{
1
,
2
}
X
,
in
Q
^{
2
,
1
}
X
,
in
Q
^{
1
,
1
}
Y
,
in
Q
^{
2
,
2
}
stateTrans
,
//
state
transition
matrix
in
Q
^{
1
,
2
}
measM
,
//
C
:
measurement
matrix
in
Q
^{
2
,
2
}
procNoiseCov
,
//
Q
:
covariance
of
process
noise
in
Q
^{
1
,
1
}
measNoiseCov
,
//
R
:
covariance
of
measurement
noise
in
Q
^{
2
,
2
}
errCov
,//
P
:
estimate
error
covariance
out
Q
^{
1
,
2
}
correctedX
,
out
Q
^{
2
,
1
}
correctedX
,
out
Q
^{
2
,
2
}
correctedErrCov
,
out
Q
predictedMeasurement
;
...
...
EMADL2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl
View file @
a1a22cb5
package
dp
.
subcomponents
;
component
KalmanStatsBuffer
(
Q
startValue
)
{
ports
in
Q
^{
1
,
2
}
X
,
ports
in
Q
^{
2
,
1
}
X
,
in
Q
^{
2
,
2
}
errCov
,
out
Q
^{
1
,
2
}
outX
,
out
Q
^{
2
,
1
}
outX
,
out
Q
^{
2
,
2
}
outErrCov
;
implementation
Math
{
static
Q
^{
1
,
2
}
bufferedX
=
[
startValue
,
0
];
static
Q
^{
2
,
1
}
bufferedX
=
[
startValue
;
0
];
static
Q
^{
2
,
2
}
bufferedErrCov
=
[
1000
,
0
;
0
,
1000
];
outX
=
bufferedX
;
...
...
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