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moved rtabmap-ros-pkg project in this project

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2011-06-05 14:45:39 +00:00
commit 2d73090f3a
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35
Matlab/Tests/TestBayesFilter.m Normal file
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close all
clear all
% Test AvpdCore::BayesFilter::computePosterior()
prior = 1;
predictionNP = 0.9;
predictionLC = [0 0.22 0.19 0.25 0.04 0.1 0.02 0.04 0.01 0.01];
likelihood = [];
nIter = 10;
computePosteriorResult = zeros(nIter);
for i=1:nIter
likelihood = [likelihood; 1];
prediction = generatePrediction(predictionNP, predictionLC, length(likelihood)-1)
if i==1
prior = 1;
%elseif i>2
% prior = [prior;prior(end)]; %use the same probability as the previous neighbor
else
prior = [prior;0];
end
prior = likelihood .* (prediction' * prior);
prior = prior/sum(prior); %Normalize
computePosteriorResult(1:length(prior),i) = prior;
end
%Adjust results (don't use float to compare)
computePosteriorResult = floor(computePosteriorResult*1000)';
disp('computePosteriorResult=');
disp(computePosteriorResult);
r = sum(sum((computePosteriorResult - [1000,0,0,0,0,0,0,0,0,0;900,99,0,0,0,0,0,0,0,0;810,113,75,0,0,0,0,0,0,0;729,109,96,64,0,0,0,0,0,0;656,100,98,87,56,0,0,0,0,0;590,93,95,93,78,49,0,0,0,0;531,86,90,92,85,69,42,0,0,0;478,80,86,90,86,77,62,37,0,0;430,75,81,87,86,80,70,55,33,0;387,69,77,83,84,80,73,63,49,29;]) ~= 0));
if r ~= 0
error('computePosteriorResult is not valid!')
end