X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=simple_kalman.py;h=5e61328f0da086a034a75c5699a2c2cf6cfc6aea;hb=5a2e8766d52bbd4251cfa784ca71e087673789ad;hp=578397c8a8939e43fd5b7abf9a1269b77acf1bac;hpb=168dab3d39b51986bc623878aeb541d26bc24cc8;p=pyshared.git

diff --git a/simple_kalman.py b/simple_kalman.py
index 578397c..5e61328 100755
--- a/simple_kalman.py
+++ b/simple_kalman.py
@@ -38,6 +38,11 @@ class simple_kalman:
 		if x.shape == (1,1): return x.item(0,0)
 		return x
 
+	def set_measure_cov(self, R):
+		if type(R) != type(np.matrix([0])): R = np.matrix(R)
+		if np.all(R >= np.zeros([2,2])):
+			self.R = R
+
 
 if __name__ == '__main__':
 	import random