Commit a1a22cb5 authored by Svetlana's avatar Svetlana

Fixed KalmanFilter ports

parent bd1c3032
......@@ -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;
......
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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