satyaprakashere / kalman-filter Goto Github PK
View Code? Open in Web Editor NEWKalman Filter implementation in Java
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predict method in KalmanFilter should take control matrix as parameter
public void predict();
Redesign everything :P
Problems
- The current design relies too much on object state.
- Everything is subject to destructive modification.
- Tight coupling and low cohesion.
Solution
- Design on paper first, write code later.
- Small immutable objects (like StateEstimate combining state and covariance) being passed around in the code.
- Try to follow interface segregation principle.
Initial state can not be part of process model
public DoubleMatrix getInitialErrorCovarience();
public DoubleVector getInitialStateEstimate();
methods are in ProcessModel.java they should be provided to constructor of KalmanFilter
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