fix: default index in predicted is -1

psantos9 · Sep 23, 2020 · da8b3d3 · da8b3d3
1 parent 278313e
commit da8b3d3
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Showing 4 changed files with 11 additions and 8 deletions.
diff --git a/lib/core-kalman-filter.js b/lib/core-kalman-filter.js
@@ -69,7 +69,8 @@ class CoreKalmanFilter {
 		const initState = new State({
 			mean: meanInit,
 			covariance: covarianceInit,
-			index: indexInit});
+			index: indexInit
+		});
 		return initState;
 	}
 
@@ -79,10 +80,10 @@ class CoreKalmanFilter {
 	* @returns{Array.<Array.<Number>>}
 	*/
 
-	getPredictedCovariance({previousCorrected} = {}) {
+	getPredictedCovariance({previousCorrected, index} = {}) {
 		previousCorrected = previousCorrected || this.getInitState();
 
-		const getValueOptions = {previousCorrected, index: previousCorrected.index};
+		const getValueOptions = {previousCorrected, index};
 		const d = this.getValue(this.dynamic.transition, getValueOptions);
 		const dTransposed = transpose(d);
 		const covarianceInter = matMul(d, previousCorrected.covariance);
@@ -119,7 +120,7 @@ class CoreKalmanFilter {
 
 		const mean = matMul(d, previousCorrected.mean);
 
-		const covariance = this.getPredictedCovariance({previousCorrected});
+		const covariance = this.getPredictedCovariance({previousCorrected, index});
 
 		const predicted = new State({mean, covariance, index});
 		this.logger.debug('Prediction done', predicted);

diff --git a/lib/setup/extend-dynamic-init.js b/lib/setup/extend-dynamic-init.js
@@ -18,7 +18,8 @@ module.exports = function ({observation, dynamic}) {
 			dynamic: Object.assign({}, dynamic, {
 				init: {
 					mean: meanArray.map(element => [element]),
-					covariance: diag(covarianceArray)
+					covariance: diag(covarianceArray),
+					index: -1
 				}
 			})
 		};

diff --git a/test/unit/core/trivial.js b/test/unit/core/trivial.js
@@ -85,7 +85,7 @@ test('Impact previousCorrected and dynamic covariance', t => {
 	});
 	const predicted = kf.predict({previousCorrected});
 	t.true(predicted instanceof State);
-	t.is(predicted.index, null);
+	t.is(predicted.index, undefined);
 	t.true(2 / trace(predicted.covariance) > huge / 2); // Verifying that the sum of the variance is tiny
 });
 

diff --git a/test/unit/kalman-filter/polymorphism.js b/test/unit/kalman-filter/polymorphism.js
@@ -167,6 +167,7 @@ test('Dynamic init', t => {
 	const huge = 1e6;
 	const initObjective = {
 		mean: [[0], [0], [0], [0]],
+		index: -1,
 		covariance: [
 			[huge, 0, 0, 0],
 			[0, huge, 0, 0],
@@ -328,6 +329,6 @@ test('Index initialization', t => {
 	const predicted2 = kf.predict({previousCorrected: firstState});
 	t.false(Number.isNaN(predicted1.index));
 	t.false(Number.isNaN(predicted2.index));
-	t.is(predicted1.index, null);
-	t.is(predicted2.index, null);
+	t.is(predicted1.index, undefined);
+	t.is(predicted2.index, undefined);
 });