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f9b97fb638
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@453 f169173b-cf89-36c8-b27e-44dbe73f0c83
36 lines
1.3 KiB
Matlab
36 lines
1.3 KiB
Matlab
close all
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clear all
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% Test AvpdCore::BayesFilter::computePosterior()
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prior = 1;
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predictionNP = 0.9;
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predictionLC = [0.1 0.24 0.18 0.18 0.1 0.1 0.04 0.04 0.01 0.01];
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likelihood = [];
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nIter = 10;
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computePosteriorResult = zeros(nIter);
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for i=1:nIter
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likelihood = [likelihood; 1];
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prediction = generatePrediction(predictionNP, predictionLC, length(likelihood)-1)
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if i==1
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prior = 1;
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%elseif i>2
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% prior = [prior;prior(end)]; %use the same probability as the previous neighbor
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else
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prior = [prior;0];
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end
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prior = likelihood .* (prediction' * prior);
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prior = prior/sum(prior); %Normalize
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computePosteriorResult(1:length(prior),i) = prior;
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end
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%Adjust results (don't use float to compare)
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computePosteriorResult = floor(computePosteriorResult*1000)';
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disp('computePosteriorResult=');
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disp(computePosteriorResult);
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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));
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if r ~= 0
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error('computePosteriorResult is not valid!')
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end
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