kalmanjs - npm Package Compare versions

Comparing version 1.0.0-beta to 1.1.0

lib/kalman.js

@@ -1,10 +0,24 @@
-"use strict";
+'use strict';
 
-var _createClass = (function () { function defineProperties(target, props) { for (var i = 0; i < props.length; i++) { var descriptor = props[i]; descriptor.enumerable = descriptor.enumerable || false; descriptor.configurable = true; if ("value" in descriptor) descriptor.writable = true; Object.defineProperty(target, descriptor.key, descriptor); } } return function (Constructor, protoProps, staticProps) { if (protoProps) defineProperties(Constructor.prototype, protoProps); if (staticProps) defineProperties(Constructor, staticProps); return Constructor; }; })();
+function _classCallCheck(instance, Constructor) {
+  if (!(instance instanceof Constructor)) {
+    throw new TypeError("Cannot call a class as a function");
+  }
+}
 
-Object.defineProperty(exports, "__esModule", {
-  value: true
-});
+function _defineProperties(target, props) {
+  for (var i = 0; i < props.length; i++) {
+    var descriptor = props[i];
+    descriptor.enumerable = descriptor.enumerable || false;
+    descriptor.configurable = true;
+    if ("value" in descriptor) descriptor.writable = true;
+    Object.defineProperty(target, descriptor.key, descriptor);
+  }
+}
 
-function _classCallCheck(instance, Constructor) { if (!(instance instanceof Constructor)) { throw new TypeError("Cannot call a class as a function"); } }
+function _createClass(Constructor, protoProps, staticProps) {
+  if (protoProps) _defineProperties(Constructor.prototype, protoProps);
+  if (staticProps) _defineProperties(Constructor, staticProps);
+  return Constructor;
+}
 
@@ -17,9 +31,9 @@ /**
 * @version Version: 1.0.0-beta
-* @copyright Copyright 2015 Wouter Bulten
-* @license GNU LESSER GENERAL PUBLIC LICENSE v3
+* @copyright Copyright 2015-2018 Wouter Bulten
+* @license MIT License
 * @preserve
 */
-
-var KalmanFilter = (function () {
-
+var KalmanFilter =
+/*#__PURE__*/
+function () {
   /**
@@ -34,20 +48,19 @@ * Create 1-dimensional kalman filter
   */
-
   function KalmanFilter() {
-    var _ref = arguments.length <= 0 || arguments[0] === undefined ? {} : arguments[0];
+    var _ref = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : {},
+        _ref$R = _ref.R,
+        R = _ref$R === void 0 ? 1 : _ref$R,
+        _ref$Q = _ref.Q,
+        Q = _ref$Q === void 0 ? 1 : _ref$Q,
+        _ref$A = _ref.A,
+        A = _ref$A === void 0 ? 1 : _ref$A,
+        _ref$B = _ref.B,
+        B = _ref$B === void 0 ? 0 : _ref$B,
+        _ref$C = _ref.C,
+        C = _ref$C === void 0 ? 1 : _ref$C;
 
-    var _ref$R = _ref.R;
-    var R = _ref$R === undefined ? 1 : _ref$R;
-    var _ref$Q = _ref.Q;
-    var Q = _ref$Q === undefined ? 1 : _ref$Q;
-    var _ref$A = _ref.A;
-    var A = _ref$A === undefined ? 1 : _ref$A;
-    var _ref$B = _ref.B;
-    var B = _ref$B === undefined ? 0 : _ref$B;
-    var _ref$C = _ref.C;
-    var C = _ref$C === undefined ? 1 : _ref$C;
-
     _classCallCheck(this, KalmanFilter);
 
     this.R = R; // noise power desirable
+
     this.Q = Q; // noise power estimated
@@ -61,3 +74,2 @@
   }
-
   /**
@@ -70,6 +82,7 @@ * Filter a new value
 
+
   _createClass(KalmanFilter, [{
     key: "filter",
     value: function filter(z) {
-      var u = arguments.length <= 1 || arguments[1] === undefined ? 0 : arguments[1];
+      var u = arguments.length > 1 && arguments[1] !== undefined ? arguments[1] : 0;
 
@@ -80,11 +93,8 @@ if (isNaN(this.x)) {
       } else {
-
         // Compute prediction
-        var predX = this.A * this.x + this.B * u;
-        var predCov = this.A * this.cov * this.A + this.R;
+        var predX = this.predict(u);
+        var predCov = this.uncertainty(); // Kalman gain
 
-        // Kalman gain
-        var K = predCov * this.C * (1 / (this.C * predCov * this.C + this.Q));
+        var K = predCov * this.C * (1 / (this.C * predCov * this.C + this.Q)); // Correction
 
-        // Correction
         this.x = predX + K * (z - this.C * predX);
@@ -96,4 +106,25 @@ this.cov = predCov - K * this.C * predCov;
     }
+    /**
+    * Predict next value
+    * @param  {Number} [u] Control
+    * @return {Number}
+    */
 
+  }, {
+    key: "predict",
+    value: function predict() {
+      var u = arguments.length > 0 && arguments[0] !== undefined ? arguments[0] : 0;
+      return this.A * this.x + this.B * u;
+    }
     /**
+    * Return uncertainty of filter
+    * @return {Number}
+    */
+
+  }, {
+    key: "uncertainty",
+    value: function uncertainty() {
+      return this.A * this.cov * this.A + this.R;
+    }
+    /**
     * Return the last filtered measurement
@@ -108,3 +139,2 @@ * @return {Number}
     }
-
     /**
@@ -120,3 +150,2 @@ * Set measurement noise Q
     }
-
     /**
@@ -135,5 +164,5 @@ * Set the process noise R
   return KalmanFilter;
-})();
+}();
 
-exports.default = KalmanFilter;
-//# sourceMappingURL=kalman.js.map
+module.exports = KalmanFilter;
+//# sourceMappingURL=kalman.js.map

package.json

 {
   "name": "kalmanjs",
-  "version": "1.0.0-beta",
+  "version": "1.1.0",
   "private": false,
   "devDependencies": {
-    "babel-cli": "^6.2.0",
-    "babel-preset-es2015": "^6.1.18",
-    "eslint": "^1.10.3",
-    "eslint-config-airbnb": "^1.0.2",
-    "uglify-js": "^2.6.1"
+    "@babel/cli": "^7.2.3",
+    "@babel/core": "^7.2.2",
+    "@babel/preset-env": "^7.2.3",
+    "rollup": "^1.1.0",
+    "rollup-plugin-babel": "^4.3.1",
+    "rollup-plugin-node-resolve": "^4.0.0",
+    "uglify-js": "^3.4.9"
   },
@@ -23,5 +25,6 @@ "repository": {
   "scripts": {
-    "compile": "babel --source-maps -d lib/ src/",
-    "minify": "uglifyjs lib/kalman.js --compress --preamble '//kalmanjs, LGPL-3.0, https://github.com/wouterbulten/kalmanjs' --source-map lib/kalman.min.js.map --in-source-map lib/kalman.js.map --mangle -o lib/kalman.min.js",
-    "prepublish": "npm run compile && npm run minify"
+    "compile": "npx babel src --source-maps --out-dir lib",
+    "minify": "npx uglifyjs dist/kalman.js --beautify \"beautify=false, preamble='/*kalmanjs, Wouter Bulten, MIT, https://github.com/wouterbulten/kalmanjs */'\" --compress --source-map \"content='dist/kalman.js.map'\" --mangle -o dist/kalman.min.js",
+    "build": "npx rollup -c",
+    "prepublishOnly": "npm run build"
   },
@@ -36,3 +39,3 @@ "keywords": [
   "author": "Wouter Bulten (https://wouterbulten.nl)",
-  "license": "LGPL-3.0"
+  "license": "MIT"
 }

README.md

@@ -7,2 +7,13 @@ # KalmanJS
 
+## Background
+
+I wrote two blog posts on explaining Kalman filters in general and applying them on noisy data in particular:
+
+* [KalmanJS, Lightweight Javascript Library for Noise filtering](https://www.wouterbulten.nl/blog/tech/lightweight-javascript-library-for-noise-filtering/)
+* [Kalman filters explained: Removing noise from RSSI signals](https://www.wouterbulten.nl/blog/tech/kalman-filters-explained-removing-noise-from-rssi-signals/)
+
+## Questions?
+
+Please see the blog post ([KalmanJS, Lightweight Javascript Library for Noise filtering](https://wouterbulten.nl/blog/tech/lightweight-javascript-library-for-noise-filtering/)) for more information about using this library. Any questions can be posted there as comments.
+
 ## Installation
@@ -12,2 +23,24 @@
 
+### In the browser
+
+Include the `kalman.js` or `kalman.min.js` from the `dist` folder on your webpage, the filter can then be used directly.
+
+```html
+<script src="kalman.min.js" type="text/javascript"></script>
+<script type="text/javascript">
+  var kf = new KalmanFilter();
+  console.log(kf.filter(3));
+  console.log(kf.filter(2));
+  console.log(kf.filter(1));
+</script>
+```
+
+Should output (with default settings):
+
+```
+3
+2.3333333333333335
+1.5000000000000002
+```
+
 ### Node (es6)
@@ -20,5 +53,15 @@ `npm install kalmanjs`
 const kf = new KalmanFilter();
-kf.filter(2);
+console.log(kf.filter(3));
+console.log(kf.filter(2));
+console.log(kf.filter(1));
 ```
 
+Should output (with default settings):
+
+```
+3
+2.3333333333333335
+1.5000000000000002
+```
+
 ### Node (es5)
@@ -28,9 +71,19 @@ `npm install kalmanjs`
 ```javascript
-var KalmanFilter = require('kalmanjs').default;
+var KalmanFilter = require('kalmanjs');
 
 var kf = new KalmanFilter();
-kf.filter(2);
+console.log(kf.filter(3));
+console.log(kf.filter(2));
+console.log(kf.filter(1));
 
 ```
 
+Should output (with default settings):
+
+```
+3
+2.3333333333333335
+1.5000000000000002
+```
+
 ## Applying the filter on a dataset
@@ -64,22 +117,48 @@
 
-## Background
+## Reference
 
-* [KalmanJS, Lightweight Javascript Library for Noise filtering](https://wouterbulten.nl/blog/tech/lightweight-javascript-library-for-noise-filtering/)
-* [Kalman filters explained: Removing noise from RSSI signals](https://wouterbulten.nl/blog/tech/kalman-filters-explained-removing-noise-from-rssi-signals/)
+This project was part of my research on indoor localization. Please see my [paper](http://ieeexplore.ieee.org/document/7471364) or this [presentation](https://www.wouterbulten.nl/blog/tech/iotdi-ic2e-conference-presentation-human-slam/) for more information. You can use the following reference if you want to cite my paper:
 
+> W. Bulten, A. C. V. Rossum and W. F. G. Haselager, "Human SLAM, Indoor Localisation of Devices and Users," *2016 IEEE First International Conference on Internet-of-Things Design and Implementation (IoTDI)*, Berlin, 2016, pp. 211-222. doi: 10.1109/IoTDI.2015.19 [URL](http://ieeexplore.ieee.org/document/7471364)
+
+Or, if you prefer in BibTeX format:
+
+```tex
+@INPROCEEDINGS{7471364,
+author={W. Bulten and A. C. V. Rossum and W. F. G. Haselager},
+booktitle={2016 IEEE First International Conference on Internet-of-Things Design and Implementation (IoTDI)},
+title={Human SLAM, Indoor Localisation of Devices and Users},
+year={2016},
+pages={211-222},
+keywords={RSSI;data privacy;indoor environment;ubiquitous computing;FastSLAM;RSSI update;SLAC algorithm;device RSSI;device indoor localisation;device location;device position;environment noise;human SLAM;nontrivial environment;received signal strength indicator;simultaneous localisation and configuration;smart space;user indoor localisation;user motion data;user privacy;Estimation;Performance evaluation;Privacy;Simultaneous localization and mapping;Privacy;Simultaneous localization and mapping;Smart Homes;Ubiquitous computing;Wireless sensor networks},
+doi={10.1109/IoTDI.2015.19},
+month={April},}
+```
+
+## Other languages
+
+Kalman filters can be useful in a broad range of projects. Regularly I get questions whether KalmanJS is available in other languages than Javascript and sometimes another library is available. I would encourage searching for it if you require another implementation. For convenience, this repository contains a *contrib* folder with user-submitted implementations in other languages.
+
 ## Copyright
 
-Copyright (C) 2015 Wouter Bulten
+MIT License
 
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU Lesser General Public License as published by
-the Free Software Foundation, either version 3 of the License, or
-(at your option) any later version.
+Copyright (c) 2018 Wouter Bulten
 
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
 
-You should have received a copy of the GNU Lesser General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

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