fix: update xo

psantos9 · Apr 20, 2023 · 373e8bb · 373e8bb
1 parent bcb5c8d
commit 373e8bb
Show file tree

Hide file tree

Showing 45 changed files with 4,285 additions and 5,990 deletions.
diff --git a/demo/bike/kf-options.js b/demo/bike/kf-options.js
@@ -11,10 +11,10 @@ module.exports = {
 			[1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
 			[0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
 			[0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0],
-			[0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0]
+			[0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0],
 		],
 		// Covariance generated thanks to getCovariance
-		covariance: observationCovariance
+		covariance: observationCovariance,
 		// Covariance: [posVar, posVar, posVar, posVar],
 
 	},
@@ -55,7 +55,7 @@ module.exports = {
 			posVar * (timeStep ** 4),
 			posVar * (timeStep ** 4),
 			sizeVar * (timeStep ** 4),
-			sizeVar * (timeStep ** 4)
-		]
-	}
+			sizeVar * (timeStep ** 4),
+		],
+	},
 };
diff --git a/demo/bike/main.js b/demo/bike/main.js
@@ -1,9 +1,8 @@
 const {KalmanFilter} = kalmanFilter;// eslint-disable-line no-undef
-
-const noisyObservations = require('./observations.json').observations;
-const kfOptions = require('./kf-options.js');
 const createElement = require('../shared/views/create-element');
 const createGroupBoxes = require('../shared/views/create-group-boxes');
+const kfOptions = require('./kf-options.js');
+const noisyObservations = require('./observations.json').observations;
 
 const kf = new KalmanFilter(kfOptions);
 let predicted = kf.predict();
@@ -22,7 +21,7 @@ const delayPromise = delay => new Promise(resolve => {
 
 module.exports = {
 	run() {
-		noisyObservations.forEach((box, index) => {
+		for (const [index, box] of noisyObservations.entries()) {
 			promise = promise
 				.then(() => {
 					predicted = kf.predict({previousCorrected});
@@ -39,11 +38,11 @@ module.exports = {
 							b[0] + (b[2] / 2),
 							b[1] + (b[3] / 2),
 							b[2],
-							b[3]
+							b[3],
 						],
 						parent: img,
 						color: 'white',
-						lineStyle: 'solid'
+						lineStyle: 'solid',
 					});
 
 					return delayPromise(delay);
@@ -56,6 +55,6 @@ module.exports = {
 
 					return delayPromise(delay);
 				}).bind(null, box, index));
-		});
-	}
+		}
+	},
 };
diff --git a/demo/bouncing-ball/kf-options.js b/demo/bouncing-ball/kf-options.js
@@ -9,10 +9,10 @@ module.exports = {
 		dimension: 2,
 		stateProjection: [
 			[1, 0, 0, 0, 0],
-			[0, 1, 0, 0, 0]
+			[0, 1, 0, 0, 0],
 		],
 		// Covariance generated thanks to getCovariance
-		covariance: [posVar / 5, posVar / 5]
+		covariance: [posVar / 5, posVar / 5],
 		// Covariance: [posVar, posVar, posVar, posVar],
 
 	},
@@ -26,8 +26,8 @@ module.exports = {
 				[0, huge, 0, 0, 0],
 				[0, 0, huge, 0, 0],
 				[0, 0, 0, huge, 0],
-				[0, 0, 0, 0, huge]
-			]
+				[0, 0, 0, 0, huge],
+			],
 		},
 
 		constant({previousCorrected}) {
@@ -55,7 +55,7 @@ module.exports = {
 				[0, 1, 0, timeStep, 0],
 				[0, 0, 1, 0, 0],
 				[0, 0, 0, vY, timeStep],
-				[0, 0, 0, 0, 1]
+				[0, 0, 0, 0, 1],
 			];
 		},
 
@@ -66,7 +66,7 @@ module.exports = {
 			posVar,
 			posVar * timeStep * timeStep,
 			posVar * timeStep * timeStep,
-			posVar * (timeStep ** 4)
-		]
-	}
+			posVar * (timeStep ** 4),
+		],
+	},
 };
diff --git a/demo/bouncing-ball/main.js b/demo/bouncing-ball/main.js
@@ -1,9 +1,8 @@
 const {KalmanFilter} = kalmanFilter;// eslint-disable-line no-undef
-
-const noisyObservations = require('./observations.json').observations;
-const kfOptions = require('./kf-options.js');
 const createElement = require('../shared/views/create-element');
 const createGroupPoint = require('../shared/views/create-group-point');
+const kfOptions = require('./kf-options.js');
+const noisyObservations = require('./observations.json').observations;
 
 const kf = new KalmanFilter(kfOptions);
 let predicted = kf.predict();
@@ -22,7 +21,7 @@ const delayPromise = delay => new Promise(resolve => {
 
 module.exports = {
 	run() {
-		noisyObservations.forEach((box, index) => {
+		for (const [index, box] of noisyObservations.entries()) {
 			promise = promise
 				.then(() => {
 					predicted = kf.predict({previousCorrected});
@@ -42,11 +41,11 @@ module.exports = {
 							b[0],
 							b[1],
 							w,
-							h
+							h,
 						],
 						parent: img,
 						color: 'white',
-						lineStyle: 'solid'
+						lineStyle: 'solid',
 					});
 
 					return delayPromise(delay);
@@ -59,6 +58,6 @@ module.exports = {
 
 					return delayPromise(delay);
 				}).bind(null, box, index));
-		});
-	}
+		}
+	},
 };
diff --git a/demo/shared/views/create-custom-dashed-line.js b/demo/shared/views/create-custom-dashed-line.js
@@ -5,7 +5,7 @@ module.exports = function ({
 	parent,
 	color,
 	percentage,
-	position = 'vertical'
+	position = 'vertical',
 }) {
 	// Bbox contains 3 elements: left, top and bottom of the dashed line or top, left and right
 	const element = document.createElement(tag);// eslint-disable-line no-undef
@@ -28,18 +28,18 @@ module.exports = function ({
 	}
 
 	// El.style.opacity = 1-percentage
-	const urlString = 'data:image/svg+xml,%3csvg ' +
-		'width=\'100%25\' ' +
-		'height=\'100%25\' ' +
-		'xmlns=\'http://www.w3.org/2000/svg\'%3e%3crect ' +
-		'width=\'100%25\' ' +
-		'height=\'100%25\' ' +
-		'fill=\'none\' ' +
-		`stroke='${color}' ` +
-		'stroke-width=\'4\' ' +
-		`stroke-dasharray='10%2c${Math.floor(percentage * 100)}' ` +
-		'stroke-dashoffset=\'0\' ' +
-		'stroke-linecap=\'round\'/%3e%3c/svg%3e';
+	const urlString = 'data:image/svg+xml,%3csvg '
+		+ 'width=\'100%25\' '
+		+ 'height=\'100%25\' '
+		+ 'xmlns=\'http://www.w3.org/2000/svg\'%3e%3crect '
+		+ 'width=\'100%25\' '
+		+ 'height=\'100%25\' '
+		+ 'fill=\'none\' '
+		+ `stroke='${color}' `
+		+ 'stroke-width=\'4\' '
+		+ `stroke-dasharray='10%2c${Math.floor(percentage * 100)}' `
+		+ 'stroke-dashoffset=\'0\' '
+		+ 'stroke-linecap=\'round\'/%3e%3c/svg%3e';
 
 	const backgroundImage1 = `url("${urlString}")`;
 

diff --git a/demo/shared/views/create-group-boxes.js b/demo/shared/views/create-group-boxes.js
@@ -13,23 +13,23 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 		bbox: [center[0], center[1], mean[2][0], mean[3][0]],
 		parent: container,
 		color,
-		lineStyle: 'solid'
+		lineStyle: 'solid',
 	});
 	createElement({
 		className: 'box stdDev',
 		bbox: [
 			center[0],
 			center[1],
 			mean[2][0] + (2 * 3 * Math.sqrt(covariance[2][2])),
-			mean[3][0] + (2 * 3 * Math.sqrt(covariance[3][3]))
+			mean[3][0] + (2 * 3 * Math.sqrt(covariance[3][3])),
 		],
 		parent: container,
-		color
+		color,
 	});
 	createPoint({
 		bbox: [center[0], center[1], 2, 2],
 		parent: container,
-		color
+		color,
 	});
 	const correlationXY = covariance[0][1] / (Math.sqrt(covariance[0][0]) * Math.sqrt(covariance[1][1]));
 	createElement({
@@ -38,49 +38,49 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 			center[0],
 			center[1],
 			2 * 3 * Math.sqrt(covariance[0][0]),
-			2 * 3 * Math.sqrt(covariance[1][1])
+			2 * 3 * Math.sqrt(covariance[1][1]),
 		],
 		parent: container,
 		rotationCoefficient: correlationXY,
-		color
+		color,
 	});
 	const correlationXW = covariance[0][2] / (Math.sqrt(covariance[0][0]) * Math.sqrt(covariance[2][2]));
 	createCustomDashedLine({
 		className: 'dashedLine',
 		bbox: [
 			center[0],
 			center[1] + (3 * Math.sqrt(covariance[1][1])),
-			center[1] + (mean[3][0] / 2) + (3 * Math.sqrt(covariance[3][3]))
+			center[1] + (mean[3][0] / 2) + (3 * Math.sqrt(covariance[3][3])),
 		],
 		parent: container,
 		percentage: Math.abs(correlationXW),
-		color
+		color,
 	});
 	const correlationYH = covariance[1][3] / (Math.sqrt(covariance[1][1]) * Math.sqrt(covariance[3][3]));
 	createCustomDashedLine({
 		className: 'dashedLine',
 		bbox: [
 			center[1],
 			center[0] + (3 * Math.sqrt(covariance[0][0])),
-			center[0] + (mean[2][0] / 2) + (3 * Math.sqrt(covariance[2][2]))
+			center[0] + (mean[2][0] / 2) + (3 * Math.sqrt(covariance[2][2])),
 		],
 		parent: container,
 		percentage: Math.abs(correlationYH),
 		position: 'horizontal',
-		color
+		color,
 	});
 	const arrowRotation = (-1 * Math.atan(mean[4][0] / mean[5][0]) * 180 / Math.PI) - 45;
 	const arrowScale = Math.sqrt((mean[4][0] ** 2) + (mean[5][0] ** 2));
 	createArrow({
 		className: 'arrow',
 		bbox: [
 			center[0] + 6,
-			center[1] - 9
+			center[1] - 9,
 		],
 		parent: container,
 		rotationCoefficient: arrowRotation,
 		scale: arrowScale,
-		color
+		color,
 	});
 	parent.append(container);
 };
diff --git a/demo/shared/views/create-group-point.js b/demo/shared/views/create-group-point.js
@@ -11,7 +11,7 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 	createPoint({
 		bbox: [center[0], center[1], 2, 2],
 		parent: container,
-		color
+		color,
 	});
 
 	const correlationXY = covariance[0][1] / (Math.sqrt(covariance[0][0]) * Math.sqrt(covariance[1][1]));
@@ -21,24 +21,24 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 			center[0],
 			center[1],
 			2 * 3 * Math.sqrt(covariance[0][0]),
-			2 * 3 * Math.sqrt(covariance[1][1])
+			2 * 3 * Math.sqrt(covariance[1][1]),
 		],
 		parent: container,
 		rotationCoefficient: correlationXY,
-		color
+		color,
 	});
 	const arrowRotation = (-1 * Math.atan(mean[2][0] / mean[3][0]) * 180 / Math.PI) - 45;
 	const arrowScale = Math.sqrt((mean[2][0] ** 2) + (mean[3][0] ** 2));
 	createArrow({
 		className: 'arrow',
 		bbox: [
 			center[0] + 6,
-			center[1] - 9
+			center[1] - 9,
 		],
 		parent: container,
 		rotationCoefficient: arrowRotation,
 		scale: arrowScale,
-		color
+		color,
 	});
 	parent.append(container);
 };
diff --git a/index.js b/index.js
@@ -10,5 +10,5 @@ module.exports = {
 	State: require('./lib/state'),
 	checkCovariance: require('./lib/utils/check-covariance'),
 	correlationToCovariance: require('./lib/utils/correlation-to-covariance'),
-	covarianceToCorrelation: require('./lib/utils/covariance-to-correlation')
+	covarianceToCorrelation: require('./lib/utils/covariance-to-correlation'),
 };