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93 lines
2.4 KiB
Java
93 lines
2.4 KiB
Java
package M;
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import linear_algebra.Matrix;
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public class KalmanFilterUsingMatrix {
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protected Matrix a;
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protected Matrix b;
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protected Matrix c;
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protected Matrix d;
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protected Matrix e;
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protected Matrix f;
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protected Matrix g;
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protected Matrix h;
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protected Matrix i;
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protected Matrix j;
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public static KalmanFilter create(double paramDouble1, double paramDouble2, double paramDouble3, double paramDouble4, double paramDouble5) {
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KalmanFilter filter = new KalmanFilter();
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filter.i((new Matrix(new double[][] { { 0.0D, 0.0D, 0.0D, 0.0D } })).f());
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filter.e(Matrix.b(4, 4).a(0.0D));
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filter.c(new Matrix(new double[][] { { 1.0D, 0.0D, paramDouble3, 0.0D }, { 0.0D, 1.0D, 0.0D, paramDouble3 }, { 0.0D, 0.0D, 1.0D, 0.0D }, { 0.0D, 0.0D, 0.0D, 1.0D } }));
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filter.b((new Matrix(new double[][] { { 0.0D, 0.0D, 0.0D, 0.0D } })).f());
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filter.h(new Matrix(new double[][] { { 0.0D } }));
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filter.f((new Matrix(new double[][] { { 0.0D, 0.0D, 0.0D, 0.0D }, { 0.0D, 0.0D, 0.0D, 0.0D }, { 0.0D, 0.0D, 1.0D, 0.0D }, { 0.0D, 0.0D, 0.0D, 1.0D } })).a(Math.pow(paramDouble4, 2.0D)));
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filter.d(new Matrix(new double[][] { { 1.0D, 0.0D, 0.0D, 0.0D }, { 0.0D, 1.0D, 0.0D, 0.0D } }));
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filter.g(Matrix.b(2, 2).a(paramDouble5));
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return filter;
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}
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public void a() {
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this.b = this.c.c(this.a).a(this.d.c(this.e));
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this.j = this.c.c(this.i).c(this.c.f()).a(this.f);
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}
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public void a(Matrix paramb) {
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Matrix b1 = this.g.c(this.j).c(this.g.f()).a(this.h);
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Matrix b2 = this.j.c(this.g.f()).c(b1.g());
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this.a = this.b.a(b2.c(paramb.b(this.g.c(this.b))));
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Matrix b3 = Matrix.b(this.j.d(), this.j.e());
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this.i = b3.b(b2.c(this.g)).c(this.j);
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}
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public void b(Matrix paramb) {
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this.d = paramb;
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}
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public void c(Matrix paramb) {
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this.c = paramb;
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}
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public void d(Matrix paramb) {
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this.g = paramb;
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}
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public void e(Matrix paramb) {
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this.i = paramb;
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}
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public void f(Matrix paramb) {
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this.f = paramb;
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}
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public void g(Matrix paramb) {
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this.h = paramb;
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}
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public void h(Matrix paramb) {
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this.e = paramb;
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}
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public Matrix b() {
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return this.a;
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}
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public void i(Matrix paramb) {
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this.a = paramb;
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}
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}
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/* Location: /home/rewrich/Downloads/TunerStudioMS/TunerStudioMS/!/M/a.class
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* Java compiler version: 8 (52.0)
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* JD-Core Version: 1.1.3
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*/ |