demoParticle.tcl

# $Id$ #

#
#/** An example on using a particle filter in tcl. \file demoParticle.tcl  \ingroup filter */
#

package require kernel
package require jmath
package require filter

set Q [jmath::create_sym_mat 1 1 "1"]
set F [jmath::create_mat 1 1 "1.1"]

set pm [filter::new_LinearPredictModel $F $Q]

set R [jmath::create_mat 1 1 "1"]
set H [jmath::create_mat 1 1 "1"]
set om [filter::new_LinearObserveModel $H]

set stateMin [jmath::create_vec 1 "0"]
set stateMax [jmath::create_vec 1 "10"]

set myFilter [filter::new_ParticleFilter 100 1 $stateMin $stateMax]

set p [jmath::create_mat 1 1 "0"]

proc update {z r} {
    global myFilter om p
    $myFilter update $om $z $r
    filter::statesToMatPlot $myFilter $p
    jmath::plot $p "'-' u 2:1"
}

proc predict {} {
    global myFilter pm p
    $myFilter predict $pm
    filter::statesToMatPlot $myFilter $p
    jmath::plot $p "'-' u 2:1"
}

filter::statesToMatPlot $myFilter $p
jmath::plot $p "'-' u 2:1"