feat: pass correct, predict, getGain input in getValue call

psantos9 · Oct 6, 2020 · 356f545 · 356f545
1 parent 6e53280
commit 356f545
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Showing 2 changed files with 17 additions and 12 deletions.
diff --git a/lib/core-kalman-filter.js b/lib/core-kalman-filter.js
@@ -80,10 +80,11 @@ class CoreKalmanFilter {
 	* @returns{Array.<Array.<Number>>}
 	*/
 
-	getPredictedCovariance({previousCorrected, index} = {}) {
+	getPredictedCovariance(options = {}) {
+		let {previousCorrected, index} = options;
 		previousCorrected = previousCorrected || this.getInitState();
 
-		const getValueOptions = {previousCorrected, index};
+		const getValueOptions = Object.assign({}, {previousCorrected, index}, options);
 		const d = this.getValue(this.dynamic.transition, getValueOptions);
 		const dTransposed = transpose(d);
 		const covarianceInter = matMul(d, previousCorrected.covariance);
@@ -103,7 +104,8 @@ class CoreKalmanFilter {
 	* @returns{State} predicted State
 	*/
 
-	predict({previousCorrected, index} = {}) {
+	predict(options = {}) {
+		let {previousCorrected, index} = options;
 		previousCorrected = previousCorrected || this.getInitState();
 
 		if (typeof (index) !== 'number' && typeof (previousCorrected.index) === 'number') {
@@ -112,10 +114,10 @@ class CoreKalmanFilter {
 
 		State.check(previousCorrected, {dimension: this.dynamic.dimension});
 
-		const getValueOptions = {
+		const getValueOptions = Object.assign({}, {
 			previousCorrected,
 			index
-		};
+		}, options);
 		const d = this.getValue(this.dynamic.transition, getValueOptions);
 
 		checkMatrix(d, [this.dynamic.dimension, this.dynamic.dimension], 'dynamic.transition');
@@ -135,8 +137,9 @@ class CoreKalmanFilter {
 	* @returns{Array<Array>} kalmanGain
 	*/
 
-	getGain({predicted, stateProjection}) {
-		const getValueOptions = {predicted, index: predicted.index};
+	getGain(options) {
+		let {predicted, stateProjection} = options;
+		const getValueOptions = Object.assign({}, {index: predicted.index}, options);
 		stateProjection = stateProjection || this.getValue(this.observation.stateProjection, getValueOptions);
 		const obsCovariance = this.getValue(this.observation.covariance, getValueOptions);
 		checkMatrix(obsCovariance, [this.observation.dimension, this.observation.dimension], 'observation.covariance');
@@ -163,8 +166,9 @@ class CoreKalmanFilter {
 	* @returns{Array.<Array.<Number>>}
 	*/
 
-	getCorrectedCovariance({predicted}) {
-		const getValueOptions = {predicted, index: predicted.index};
+	getCorrectedCovariance(options) {
+		const {predicted} = options;
+		const getValueOptions = Object.assign({}, {index: predicted.index}, options);
 		const identity = getIdentity(predicted.covariance.length);
 		const stateProj = this.getValue(this.observation.stateProjection, getValueOptions);
 		const optimalKalmanGain = this.getGain({predicted, stateProjection: stateProj});
@@ -182,13 +186,14 @@ class CoreKalmanFilter {
 	* @returns{State} corrected State of the Kalman Filter
 	*/
 
-	correct({predicted, observation}) {
+	correct(options) {
+		const {predicted, observation} = options;
 		State.check(predicted, {dimension: this.dynamic.dimension});
 		if (!observation) {
 			throw (new Error('no measure available'));
 		}
 
-		const getValueOptions = {observation, predicted, index: predicted.index};
+		const getValueOptions = Object.assign({}, {observation, predicted, index: predicted.index}, options);
 		const stateProj = this.getValue(this.observation.stateProjection, getValueOptions);
 
 		const optimalKalmanGain = this.getGain({predicted, stateProjection: stateProj});

diff --git a/lib/model-collection.js b/lib/model-collection.js
@@ -48,7 +48,7 @@ module.exports = {
 	},
 	buildDynamic: (dynamic, observation) => {
 		if (!registeredDynamicModels[dynamic.name]) {
-			throw (new Error('The provided dynamic model name is not registered'));
+			throw (new Error(`The provided dynamic model (${dynamic.name}) name is not registered`));
 		}
 
 		return registeredDynamicModels[dynamic.name](dynamic, observation);