#[cfg(test)]
mod tests {
use nalgebra::{MatrixN, VectorN, U2};
use crate::filter::Filter;
#[test]
fn it_works() {
assert_eq!(2 + 2, 4);
}
#[test]
fn filter_test() {
let mut filter = Filter::new(
VectorN::<f32, U2>::new(-1.0, 9.0), MatrixN::<f32, U2>::new(
0.1, 0.1, 0.1, 0.1,
),
MatrixN::<f32, U2>::new(
1.0, 0.1, 0.0, 1.0,
),
MatrixN::<f32, U2>::new(
0.1, 0.1, 0.1, 1.0,
),
MatrixN::<f32, U2>::new(
1.0, 0.0, 0.0, 1.0,
),
MatrixN::<f32, U2>::new(
1.0, 1.0, 1.0, 1.0,
),
);
let mut measurement = VectorN::<f32, U2>::new(0.0, 9.0);
for i in 0..100 {
measurement[0] = i as f32;
let (x, _, _, _, _) = filter.run(measurement).unwrap();
println!("{}, {}", x[0], x[1])
}
}
}