X-Git-Url: https://defiant.homedns.org/gitweb/?a=blobdiff_plain;f=simple_kalman.py;h=5e61328f0da086a034a75c5699a2c2cf6cfc6aea;hb=5a2e8766d52bbd4251cfa784ca71e087673789ad;hp=d3d36ef1c5874592d758cbdfa0a28f6479af6b48;hpb=a122ce94f6adfb634d2c3ec74f2b12c782115cc7;p=pyshared.git

diff --git a/simple_kalman.py b/simple_kalman.py
index d3d36ef..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
@@ -85,9 +90,9 @@ if __name__ == '__main__':
 
 	for i in range(0, 100):
 		# Messwert
-		a = p.run(np.array([[y1[i], y2[i]]]).T)
-		x1.append(a.item((0, 0)))
-		x2.append(a.item((1, 0)))
+		result = p.run(np.array([[y1[i], y2[i]]]).T)
+		x1.append(result.item((0, 0)))
+		x2.append(result.item((1, 0)))
 
 	plot(orig1, label="Orig")
 	plot(orig2, label="Orig")