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example, kalman filter : use constexpr std::array rather than std::vector for measurements and track,

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to make it harder for compiler to complain about existence of first element.
This commit is contained in:
Andy Little
2020-03-11 18:27:12 +00:00
committed by Mateusz Pusz
parent 0cfe7c605f
commit 79f81bfe39
1 changed files with 7 additions and 10 deletions
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17
example/kalman_filter-alpha_beta_filter_example2.cpp
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@@ -4,7 +4,7 @@
#include <units/physical/si/velocity.h> #include <units/physical/si/velocity.h>
#include <iomanip> #include <iomanip>
#include <iostream> #include <iostream>
#include <vector> #include <array>
/* /*
kalman filter tutorial kalman filter tutorial
@@ -54,19 +54,16 @@ int main()
std::cout << "\n\n1d aircraft α-β filter example2 from https://www.kalmanfilter.net/alphabeta.html#ex2"; std::cout << "\n\n1d aircraft α-β filter example2 from https://www.kalmanfilter.net/alphabeta.html#ex2";
std::cout << "\n\n"; std::cout << "\n\n";
std::vector<length<metre>> measurements{0.0q_m, // N.B measurement[0] is unknown and unused constexpr auto measurements = std::array{0.0q_m, // N.B measurement[0] is unknown and unused
30110.0q_m, 30265.0q_m, 30740.0q_m, 30750.0q_m, 31135.0q_m, 30110.0q_m, 30265.0q_m, 30740.0q_m, 30750.0q_m, 31135.0q_m,
31015.0q_m, 31180.0q_m, 31610.0q_m, 31960.0q_m, 31865.0q_m}; 31015.0q_m, 31180.0q_m, 31610.0q_m, 31960.0q_m, 31865.0q_m};
const auto num_measurements = measurements.size(); constexpr auto num_measurements = measurements.size();
std::vector<state> track(num_measurements); std::array<state,num_measurements> track;
// We need an initial estimate of track[0] as there is no previous state to get a prediction from
if(track.size() > 0) { track[0].range.estimated_current_state = 30'000q_m;
// We need an initial estimate of track[0] as there is no previous state to get a prediction from track[0].speed.estimated_current_state = 40.0q_m_per_s;
track[0].range.estimated_current_state = 30'000q_m;
track[0].speed.estimated_current_state = 40.0q_m_per_s;
}
for (auto n = 0U; n < num_measurements; ++n) { for (auto n = 0U; n < num_measurements; ++n) {
if (n > 0) { if (n > 0) {