This project aims at simulating a Kalman Filter that estimates and, if requested, predicts the current and future states of a particular system. The authors model two different systems: a user-mouse interaction and a mechanical system composed by a mass, which a randomly created force acts on. The implementation of the program uses allegro4.4 and pthread libraries beside an original library created to perform operations between matrices.

This application requires Allegro4 to run.

sudo apt-get install liballegro4.4 liballegro4-4dev

make

sudo ./bin/main

Note: superuser privileges are needed to create real-time threads.