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particle-filter: 提交


Commit MetaInfo

修订版20 (tree)
时间2010-05-12 20:47:03
作者(del#42041)

Log Message

implemented test codes more

更改概述

差异

--- test/test_filter.cc (revision 19)
+++ test/test_filter.cc (revision 20)
@@ -84,6 +84,25 @@
8484 a.compute_likelihood();
8585 a.resampling();
8686 cut_assert_equal_string("(0.153025,-1.168815,1.558071)(0.153025,-1.168815,1.558071)(0.153025,-1.168815,1.558071)(0.153025,-1.168815,1.558071)(0.153025,-1.168815,1.558071)",a.predict_particles_toString().c_str());
87+
88+ // step 2
89+
90+ a.create_system_noise();
91+ a.get_next_state();
92+ cut_assert_equal_string("(0.563190,-0.597547,-1.199891)(1.229306,-1.782948,3.388836)(-0.993781,-1.114977,-0.949410)(-0.438624,-0.310210,1.330129)(0.354340,-0.818760,2.094123)",a.predict_particles_toString().c_str());
93+ x[0]=0.2; x[1]=-1.0; x[2]=1.5;
94+ for(int i=0;i<y.size();++i)
95+ {
96+ y[i] = x;
97+ }
98+ a.set_observed_data(y);
99+ cut_assert_equal_double(-0.36319,1e-4,a.get_observed_noise(0));
100+ a.set_robserve_density_func(func4);
101+ cut_assert_equal_double(1.14882e-24,1e-5,a.get_robserved_density_value(-1.06308));
102+ a.compute_likelihood();
103+ a.resampling();
104+ cut_assert_equal_string("(0.563190,-0.597547,-1.199891)(0.563190,-0.597547,-1.199891)(0.563190,-0.597547,-1.199891)(0.563190,-0.597547,-1.199891)(0.563190,-0.597547,-1.199891)",a.predict_particles_toString().c_str());
105+
87106 }
88107 }
89108 int main()
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