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clarified spec

This commit is contained in:
Davis King 2017-02-25 06:42:35 -05:00
parent 81b3272382
commit cf3a7ea70c
2 changed files with 8 additions and 6 deletions
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6
dlib/filtering/kalman_filter.h
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@ -36,9 +36,11 @@ namespace dlib
void set_process_noise ( const matrix<double,states,states>& Q_) { Q = Q_; }
void set_measurement_noise ( const matrix<double,measurements,measurements>& R_) { R = R_; }
void set_estimation_error_covariance( const matrix<double,states,states>& P_) { P = P_; }
void set_state ( const matrix<double,states,1>& xb_) {
void set_state ( const matrix<double,states,1>& xb_)
{
xb = xb_;
if (!got_first_meas) {
if (!got_first_meas)
{
x = xb_;
got_first_meas = true;
}

8
dlib/filtering/kalman_filter_abstract.h
View File

@ -98,11 +98,11 @@ namespace dlib
);
/*!
ensures
- This function can be used when the initial state is known, or if the
state needs to be corrected before the next update().
- #get_predicted_next_state() == xb
- If update() is never called with a measurement
#get_current_state() == get_predicted_next_state()
(Can be used when the initial state is known, or if the state needs to be corrected
before the next update())
- If (update() hasn't been called yet) then
- #get_current_state() == xb
!*/
const matrix<double,measurements,states>& get_observation_model (