def pf_gpsUpdate(self, z):
R = self.gps_r
obs_from_state = blas.dgemv(np.array([self.gps_h]), self._x_)
x_pdf = misctools.mvnpdf(np.array([z]), obs_from_state, np.array([R]))
self.weights *= x_pdf
self.weights /= self.weights.sum()
self.x = self._x_
x_mean, self._P_ = misctools.sample_mn_cv(self.x, self.weights)
self.P = self._P_
self.UPDATED = True
def pf_dvlUpdate(self, z, velocity_respect_to = 'bottom'):
if velocity_respect_to == 'bottom':
R = self.dvl_bottom_r
else:
R = self.dvl_water_r
obs_from_state = blas.dgemv(np.array([self.dvl_h]), self._x_)
x_pdf = misctools.mvnpdf(np.array([z]), obs_from_state, np.array([R]))
self.weights *= x_pdf
self.weights /= self.weights.sum()
self.x = self._x_
x_mean, self._P_ = misctools.sample_mn_cv(self.x, self.weights)
self.P = self._P_
self.UPDATED = True
