kalman-filter - npm Package Compare versions

Comparing version 1.12.0 to 1.13.0

lib/core-kalman-filter.js

@@ -14,2 +14,3 @@ const matMul = require('../lib/linalgebra/mat-mul.js');
 * @param {Number} opts.previousCorrected
+* @returns {Array.Array.<Number>>}
 */
@@ -23,2 +24,3 @@
 * @param {Observation} opts.observation
+* @returns {Array.Array.<Number>>}
 */
@@ -37,2 +39,3 @@
 * @property {Number} dimension dimension of the state vector
+* @property {PreviousCorrectedCallback} [constant=null] a function that returns the control parameter B_k*u_k of the kalman filter
 * @property {PreviousCorrectedCallback} [fn=null] for extended kalman filter only, the non-linear state-transition model
@@ -111,3 +114,15 @@ * @property {Array.Array.<Number>> | PredictedCallback} transition the state-transition model (or for EKF the jacobian of the fn)
 
-	predictMean({opts, transition}) {
+	predictMean(o) {
+		const mean = this.predictMeanWithoutControl(o);
+		if (!this.dynamic.constant) {
+			return mean;
+		}
+
+		const {opts} = o;
+		const control = this.dynamic.constant(opts);
+		checkMatrix(control, [this.dynamic.dimension, 1], 'dynamic.constant');
+		return add(mean, control);
+	}
+
+	predictMeanWithoutControl({opts, transition}) {
 		if (this.dynamic.fn) {
@@ -148,2 +163,5 @@ return this.dynamic.fn(opts);
 		this.logger.debug('Prediction done', predicted);
+		if (Number.isNaN(predicted.mean[0][0])) {
+			throw (new TypeError('nan'));
+		}
 
@@ -150,0 +168,0 @@ return predicted;

package.json

 {
   "name": "kalman-filter",
-  "version": "1.12.0",
+  "version": "1.13.0",
   "description": "Kalman filter (and Extended Kalman Filter) Multi-dimensional implementation in Javascript",
@@ -9,3 +9,3 @@ "main": "index.js",
     "semantic-release": "semantic-release",
-    "build-demo": "build && browserify -d -r ./demo/src/main.js:main > docs/demo.js && cp dist/kalman-filter.js docs/dist/kalman-filter.js",
+    "build-demo": "npm run build && browserify -d -r ./demo/bike/main.js:bike > docs/dist/bike.js && browserify -d -r ./demo/bouncing-ball/main.js:bouncing-ball > docs/dist/bouncing-ball.js && cp dist/kalman-filter.js docs/dist/kalman-filter.js",
     "serve-demo": "http-server docs/",
@@ -87,3 +87,2 @@ "build": "NODE_OPTIONS=--openssl-legacy-provider webpack"
   "devDependencies": {
-    "@semantic-release/git": "^9.0.0",
     "ava": "^3.8.2",
@@ -100,2 +99,3 @@ "browserify": "^16.5.2",
     "@rayyamhk/matrix": "^1.0.5",
+    "http-server": "^14.1.1",
     "matrix-inverse": "^2.0.0"
@@ -102,0 +102,0 @@ },

README.md

@@ -15,5 +15,6 @@ ![Kalman Filter Gif](./demo/demo.gif)
 
-## Demos
+## Demos/Examples
 
 * [Browser interactive constant acceleration on bikes](http://piercus.github.io/kalman-filter)
+* [Sinusoidale Extended Kalman-Filter](https://observablehq.com/d/a033acc0859cc0de)
 * [Code pen GPS Data smoothing with constant speed](https://codepen.io/piercus/pen/wvoqPww)
@@ -140,2 +141,3 @@ * [Partial Observation](https://github.com/piercus/kalman-filter/issues/34)
 | $R_k$, the covariance of the observation noise | `observation.covariance` |
+| $B_k u_k$, the control-input model multiplied by the control vector | `dynamic.constant` |
 |$\mathbf{P}_{0\mid 0}$| `dynamic.init.covariance` |
@@ -155,2 +157,3 @@ |$\mathbf{x}_{0\mid 0}$| `dynamic.init.mean` |
 This will automatically configure the `dynamic.transition` matrix.
+
 ##### constant-position
@@ -376,2 +379,3 @@
 * `dynamic.covariance`
+* `dynamic.constant`
 
@@ -461,4 +465,11 @@ In this situation this `function` will return the value of the matrix at each step of the kalman-filter.
 
-See an example in `test/issues/56.js`
+See an example in [Sinusoidale Extended Kalman-Filter](https://observablehq.com/d/a033acc0859cc0de)
 
+### Using Control model
+
+If you want to add a constant parameter in the dynamic model (also called `control input`), you can use `dynamic.constant` function
+
+See an example code in `demo/bouncing-ball` or the result in [Bouncing Ball example](https://observablehq.com/d/a033acc0859cc0de)
+
+
 ## Use your kalman filter
@@ -465,0 +476,0 @@

No alert changes

Improved metrics

Total package byte prevSize

71350

increased by1.78%

Dev dependency count

8

decreased by-11.11%

Lines of code

1338

increased by1.21%

Number of lines in readme file

692

increased by1.62%

Worsened metrics

Dependency count

3

increased by50%

Dependency changes

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