feat: remove linalgebra and use simple-linalg instead

BREAKING CHANGE: the linalgebra is not exposed anymore
psantos9 · Apr 20, 2023 · bcb5c8d · bcb5c8d
1 parent ffeed39
commit bcb5c8d
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Showing 43 changed files with 141 additions and 322 deletions.
diff --git a/docs/dist/bouncing-ball.js b/docs/dist/bouncing-ball.js
diff --git a/docs/dist/kalman-filter.js b/docs/dist/kalman-filter.js
diff --git a/docs/index.html b/docs/index.html
@@ -5,18 +5,84 @@
 <title>Kalman Filter Demo on Bike Image</title>
 <link rel="stylesheet" type="text/css" href="./style.css">
 
+<!-- Add a header section with the demo title and description -->
+<header>
+	<h1>Kalman Filter Demo</h1>
+	<p>This demo shows how a Kalman filter can be used to estimate the position of a moving object over time, even in the presence of noise and uncertainty.</p>
+</header>
+
+<!-- Use CSS Grid to create a flexible layout -->
+<style>
+  body {
+    display: grid;
+    grid-template-columns: repeat(auto-fit, minmax(320px, 1fr));
+    grid-gap: 1rem;
+  }
+  .img, .controls {
+    width: 100%;
+    margin: auto;
+  }
+  h1, p {
+    text-align: center;
+  }
+  img {
+    max-width: 100%;
+    height: auto;
+    display: block;
+    margin: 0 auto;
+  }
+  .top-right {
+    position: absolute;
+    top: 0;
+    right: 0;
+    margin: 1rem;
+    z-index: 1;
+    font-size: 0.8rem;
+  }
+  .top-right h4 {
+    margin: 0;
+    font-weight: normal;
+  }
+  .controls {
+    display: flex;
+    flex-wrap: wrap;
+    justify-content: center;
+    align-items: center;
+    padding: 1rem;
+    background-color: #f2f2f2;
+  }
+  .controls input[type="button"] {
+    background-color: #4CAF50;
+    color: white;
+    border: none;
+    padding: 0.5rem 1rem;
+    margin: 0.5rem;
+    cursor: pointer;
+    border-radius: 4px;
+    transition: background-color 0.3s ease;
+  }
+  .controls input[type="button"]:hover {
+    background-color: #3e8e41;
+  }
+  .controls label {
+    font-size: 0.8rem;
+    margin-left: 0.5rem;
+  }
+  #status {
+    text-align:center;
+    font-size: 0.8rem;
+    margin-top: 1rem;
+  }
+</style>
 
 </head>
 <body>
     <div class="img" id='bikes'>
         <img src="./bike.gif">
 				<div class="top-right" id='legend'>
-					<h4 style="color: blue;"> Prediction
-					</h4>
-					<h4 style="color: white;"> Observation
-					</h4>
-					<h4 style="color: red;"> Correction
-					</h4>
+					<h4 style="color: blue;">Prediction</h4>
+					<h4 style="color: white;">Observation</h4>
+					<h4 style="color: red;">Correction</h4>
 				</div>
     </div>
     <div class="controls" id='controls'>
@@ -27,21 +93,20 @@ <h4 style="color: red;"> Correction
   		<input id="clickMe" type="button" value="Show/Hide Corrections" onclick="showHide('corrected');" />
 
   		<input type="checkbox"  id="speedVectors" onclick="showHide('speedVectors');">
-  	  <label for="checkbox1"> Speed Vectors </label>
+		  <label for="checkbox1">Speed Vectors</label>
   		<input type="checkbox"  id="Variances" onclick="showHide('variances');" checked="checked">
-  	  <label for="checkbox1"> Variances </label>
+  	  <label for="checkbox2">Variances</label>
   		<input type="checkbox"  id="Covariances" onclick="showHide('covariances');">
-  	  <label for="checkbox1"> Covariances </label>
+  	  <label for="checkbox3">Covariances</label>
     </div>
 
-
+    <!-- Add a div to display status messages -->
+    <div id="status"></div>
 </body>
 <script src="dist/kalman-filter.js"></script>
 <script src="dist/bike.js"></script>
 
 <script>
-//
-// const btn = document.querySelector('button');
 const status = {
   'predicted': false,
   'observation': true,
@@ -72,7 +137,12 @@ <h4 style="color: red;"> Correction
 const run = function(){
   require('bike').run()
 }
+
+// Add event listener to display status messages when the user clicks the "Run Kalman Filter" button
+document.querySelector('#clickMe').addEventListener('click', function() {
+  document.querySelector('#status').innerHTML = 'Running Kalman Filter...';
+});
 </script>
 
 
-</html>
+</html>
diff --git a/index.js b/index.js
@@ -10,6 +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'),
-	linalgebra: require('./lib/linalgebra')
+	covarianceToCorrelation: require('./lib/utils/covariance-to-correlation')
 };
diff --git a/lib/core-kalman-filter.js b/lib/core-kalman-filter.js
@@ -1,9 +1,5 @@
-const matMul = require('../lib/linalgebra/mat-mul.js');
-const transpose = require('../lib/linalgebra/transpose.js');
-const add = require('../lib/linalgebra/add.js');
-const invert = require('../lib/linalgebra/invert.js');
-const sub = require('../lib/linalgebra/sub.js');
-const getIdentity = require('../lib/linalgebra/identity.js');
+const {matMul, transpose, add, invert, subtract: sub, identity: getIdentity} = require('simple-linalg');
+
 const State = require('./state.js');
 const checkMatrix = require('./utils/check-matrix.js');
 /**

diff --git a/lib/dynamic/constant-acceleration.js b/lib/dynamic/constant-acceleration.js
@@ -1,4 +1,4 @@
-const identity = require('../linalgebra/identity.js');
+const {identity} = require('simple-linalg');
 
 /**
 *Creates a dynamic model, following constant acceleration model with respect with the dimensions provided in the observation parameters

diff --git a/lib/dynamic/constant-position.js b/lib/dynamic/constant-position.js
@@ -1,4 +1,4 @@
-const identity = require('../linalgebra/identity.js');
+const {identity} = require('simple-linalg');
 /**
 *Creates a dynamic model, following constant position model with respect with the dimensions provided in the observation parameters
 * @param {DynamicConfig} dynamic

diff --git a/lib/dynamic/constant-speed.js b/lib/dynamic/constant-speed.js
@@ -1,4 +1,4 @@
-const identity = require('../linalgebra/identity.js');
+const {identity} = require('simple-linalg');
 
 /**
 *Creates a dynamic model, following constant position model with respect with the dimensions provided in the observation parameters

diff --git a/lib/kalman-filter.js b/lib/kalman-filter.js
@@ -7,7 +7,7 @@ const extendDynamicInit = require('../lib/setup/extend-dynamic-init.js');
 const toFunction = require('../lib/utils/to-function.js');
 const deepAssign = require('../lib/utils/deep-assign.js');
 const polymorphMatrix = require('../lib/utils/polymorph-matrix.js');
-const distanceMat = require('../lib/linalgebra/distance-mat.js');
+const {frobenius: distanceMat} = require('simple-linalg');
 const State = require('./state.js');
 const modelCollection = require('./model-collection.js');
 const CoreKalmanFilter = require('./core-kalman-filter.js');

diff --git a/lib/linalgebra/add.js b/lib/linalgebra/add.js
diff --git a/lib/linalgebra/diag.js b/lib/linalgebra/diag.js
diff --git a/lib/linalgebra/distance-mat.js b/lib/linalgebra/distance-mat.js
diff --git a/lib/linalgebra/elem-wise.js b/lib/linalgebra/elem-wise.js
diff --git a/lib/linalgebra/identity.js b/lib/linalgebra/identity.js
diff --git a/lib/linalgebra/index.js b/lib/linalgebra/index.js
diff --git a/lib/linalgebra/invert.js b/lib/linalgebra/invert.js
diff --git a/lib/linalgebra/mat-mul.js b/lib/linalgebra/mat-mul.js
diff --git a/lib/linalgebra/pad-with-zeros.js b/lib/linalgebra/pad-with-zeros.js
diff --git a/lib/linalgebra/sub-square-matrix.js b/lib/linalgebra/sub-square-matrix.js
diff --git a/lib/linalgebra/sub.js b/lib/linalgebra/sub.js
diff --git a/lib/linalgebra/sum.js b/lib/linalgebra/sum.js
diff --git a/lib/linalgebra/trace.js b/lib/linalgebra/trace.js
diff --git a/lib/linalgebra/transpose.js b/lib/linalgebra/transpose.js
diff --git a/lib/linalgebra/zeros.js b/lib/linalgebra/zeros.js
diff --git a/lib/observation/sensor.js b/lib/observation/sensor.js
@@ -1,4 +1,4 @@
-const identity = require('../linalgebra/identity.js');
+const {identity} = require('simple-linalg');
 const polymorphMatrix = require('../utils/polymorph-matrix.js');
 const checkMatrix = require('../utils/check-matrix.js');