def considerAnalysis(self, Xbar_0, Pbar_0, t_0, C_ref, cbar, Pbar_cc):
"""
Before computing the kalman solution, call this method.
:param Xref_0: [1-dimensional numpy array] Initial guess of the state.
:param xbar_0: [1-dimensional numpy array] Deviation from the initial guess (usually 0).
:param Pbar_0: [2-dimensional numpy array] A-priori covariance.
:param t_0: [double] Initial time.
:param C_ref:
:param cbar:
:param Pbar_cc
:return:
"""
ckfProc.configureFilter(self, Xbar_0, Pbar_0, t_0)
q = C_ref.size
n = Xbar_0.size
self._S_i_1 = np.zeros((n,q))
self._xhatc_i_1 = np.zeros(n)
self._P_c_i_1 = np.copy(Pbar_0)
self._P_xc_i_1 = np.zeros((n,q))
self._Xhat_c_i_1 = np.zeros(n)
self._Pbar_cc = np.copy(Pbar_cc)
self._Cref = C_ref # Parameters reference
self._cbar = cbar # Parameters' deviation
self._posfit_consider_residual = None
self._theta_i_1 = np.zeros((n,q))
self._theta_i_1_0 = np.zeros((n,q))
self._zeroMat = np.zeros((n,q))
return
def configureFilter(self, Xbar_0, Pbar_0, t_0):
"""
Before computing the kalman solution, call this method.
:param Xref_0: [1-dimensional numpy array] Initial guess of the state.
:param xbar_0: [1-dimensional numpy array] Deviation from the initial guess (usually 0).
:param Pbar_0: [2-dimensional numpy array] A-priori covariance.
:param t_0: [double] Initial time.
:param joseph_flag: [boolean] Set to true to propagate the covariance using Joseph Formulation.
:return:
"""
ckfProc.configureFilter(self, Xbar_0, Pbar_0, t_0)
self._ckf_counter = 0
self._start_using_EKF_at_obs = 0
self._lastObsTime = t_0
return
def configureFilter(self, Xbar_0, Pbar_0, t_0):
"""
Before computing the kalman solution, call this method.
:param Xref_0: [1-dimensional numpy array] Initial guess of the state.
:param xbar_0: [1-dimensional numpy array] Deviation from the initial guess (usually 0).
:param Pbar_0: [2-dimensional numpy array] A-priori covariance.
:param t_0: [double] Initial time.
:param joseph_flag: [boolean] Set to true to propagate the covariance using Joseph Formulation.
:return:
"""
ckfProc.configureFilter(self, Xbar_0, Pbar_0, t_0)
self._ckf_counter = 0
self._start_using_EKF_at_obs = 0
self._lastObsTime = t_0
return
