From: Erik Andresen <erik@vontaene.de>
Date: Mon, 30 Jul 2018 06:58:30 +0000 (+0200)
Subject: simple_kalman: Added set_measure_cov()
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=2056613e07dc73a25e8426a6ca67fccc88e13fee;p=pyshared.git

simple_kalman: Added set_measure_cov()
---

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