Remove debug messages

ChristopherRabotin · Dec 13, 2016 · 48c4587 · 48c4587
1 parent 7565417
commit 48c4587
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Showing 3 changed files with 2 additions and 10 deletions.
diff --git a/examples/jerkcar/main.go b/examples/jerkcar/main.go
@@ -110,7 +110,6 @@ func main() {
 
 	for k, yaccK := range yacc {
 		var measurement *mat64.Vector
-		fmt.Printf("\n---- k = %d ----\n", k)
 
 		if (k+1)%10 == 0 {
 			// Switch to using H1

diff --git a/examples/jerkcar/vanilla.csv b/examples/jerkcar/vanilla.csv
@@ -1,4 +1,4 @@
-# Creation date (UTC): 2016-12-12 17:25:55.48429653 -0700 MST
+# Creation date (UTC): 2016-12-12 17:33:31.215174543 -0700 MST
 position,position+Covar,position-Covar,velocity,velocity+Covar,velocity-Covar,acceleration,acceleration+Covar,acceleration-Covar,bias,bias+Covar,bias-Covar
 0.004501,6.324872,-6.324872,0.450187,6.324714,-6.324714,0.018710,4.478907,-4.478907,0.108776,4.478919,-4.478919
 0.009003,6.325820,-6.325820,0.450329,6.325189,-6.325189,0.016469,4.476683,-4.476683,0.106020,4.477949,-4.477949
@@ -2000,4 +2000,4 @@ position,position+Covar,position-Covar,velocity,velocity+Covar,velocity-Covar,ac
 1.410954,0.436806,-0.436806,-0.928453,0.246889,-0.246889,-0.080810,0.092910,-0.092910,-0.540108,0.167577,-0.167577
 1.401687,0.438836,-0.438836,-0.929245,0.247649,-0.247649,-0.080842,0.093016,-0.093016,-0.544771,0.167637,-0.167637
 1.431024,0.420897,-0.420897,-0.912095,0.240848,-0.240848,-0.076976,0.092049,-0.092049,-0.585599,0.167097,-0.167097
-# Closing date (UTC): 2016-12-13 00:25:55.920301499 +0000 UTC
+# Closing date (UTC): 2016-12-13 00:33:31.306593167 +0000 UTC
diff --git a/vanilla.go b/vanilla.go
@@ -66,7 +66,6 @@ func (kf *Vanilla) Update(measurement, control *mat64.Vector) (est Estimate, err
 	}
 
 	// Prediction step.
-	// \hat{x}_{k+1}^{-}
 	var xKp1Minus, xKp1Minus1, xKp1Minus2 mat64.Vector
 	xKp1Minus1.MulVec(kf.F, kf.prevEst.State())
 	if kf.needCtrl {
@@ -75,14 +74,12 @@ func (kf *Vanilla) Update(measurement, control *mat64.Vector) (est Estimate, err
 	} else {
 		xKp1Minus = xKp1Minus1
 	}
-	fmt.Printf("x-=%v\n", mat64.Formatted(&xKp1Minus, mat64.Prefix("   ")))
 
 	// P_{k+1}^{-}
 	var Pkp1Minus, FP, FPFt mat64.Dense
 	FP.Mul(kf.F, kf.prevEst.Covariance())
 	FPFt.Mul(&FP, kf.F.T())
 	Pkp1Minus.Add(&FPFt, kf.Noise.ProcessMatrix())
-	fmt.Printf("P-=%v\n", mat64.Formatted(&Pkp1Minus, mat64.Prefix("   ")))
 
 	// Compute estimated measurement update \hat{y}_{k}
 	var ykHat mat64.Vector
@@ -100,7 +97,6 @@ func (kf *Vanilla) Update(measurement, control *mat64.Vector) (est Estimate, err
 	Kkp1.Mul(&PHt, &HPHt)
 
 	// Measurement update
-	// xhatkkp1_minus + Kkkp1*(ykkp1 - Hkkp1*xhatkkp1_minus)
 	var xkp1Plus, xkp1Plus1, xkp1Plus2 mat64.Vector
 	xkp1Plus1.MulVec(kf.H, &xKp1Minus)
 	xkp1Plus1.SubVec(measurement, &xkp1Plus1)
@@ -115,9 +111,7 @@ func (kf *Vanilla) Update(measurement, control *mat64.Vector) (est Estimate, err
 	}
 	xkp1Plus.AddVec(&xKp1Minus, &xkp1Plus2)
 	xkp1Plus.AddVec(&xkp1Plus, kf.Noise.Process(kf.step))
-	fmt.Printf("x+=%v\n", mat64.Formatted(&xkp1Plus, mat64.Prefix("   ")))
 
-	// Pa_kp1_plus = (eye(4) - Kkp1*H)*P_kp1_minus;
 	var Pkp1Plus, Pkp1Plus1, Kkp1H, Kkp1R, Kkp1RKkp1 mat64.Dense
 	Kkp1H.Mul(&Kkp1, kf.H)
 	n, _ := Kkp1H.Dims()
@@ -127,7 +121,6 @@ func (kf *Vanilla) Update(measurement, control *mat64.Vector) (est Estimate, err
 	Kkp1R.Mul(&Kkp1, kf.Noise.MeasurementMatrix())
 	Kkp1RKkp1.Mul(&Kkp1R, Kkp1.T())
 	Pkp1Plus.Add(&Pkp1Plus, &Kkp1RKkp1)
-	fmt.Printf("P+=%v\n", mat64.Formatted(&Pkp1Plus, mat64.Prefix("   ")))
 
 	Pkp1PlusSym, err := AsSymDense(&Pkp1Plus)
 	if err != nil {