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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@453 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2012-03-03 03:25:44 +00:00
parent a2eb8bcab6
commit f9b97fb638
5 changed files with 12 additions and 10 deletions
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4
Matlab/Tests/TestBayesFilter.m
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@@ -4,7 +4,7 @@ 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];
predictionLC = [0.1 0.24 0.18 0.18 0.1 0.1 0.04 0.04 0.01 0.01];
likelihood = [];
nIter = 10;
@@ -28,7 +28,7 @@ end
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));
r = sum(sum((computePosteriorResult - [1000,0,0,0,0,0,0,0,0,0;900,99,0,0,0,0,0,0,0,0;820,117,62,0,0,0,0,0,0,0;756,111,82,50,0,0,0,0,0,0;704,103,84,67,40,0,0,0,0,0;663,96,82,69,54,32,0,0,0,0;631,90,79,69,58,44,26,0,0,0;604,84,76,68,58,48,36,21,0,0;583,79,73,66,58,49,40,30,17,0;567,74,69,64,58,50,41,33,25,14;]) ~= 0));
if r ~= 0
error('computePosteriorResult is not valid!')
end