Source code for stytra.tests.test_kalman
import numpy as np
from stytra.tracking.fish import Fishes
[docs]def test_fish():
""" Test fish Kalman updating with angle correction
Returns
-------
"""
fshs = Fishes(1, 1.0, 1.0, 2, 1.0, 1)
fshs.add_fish(np.array([0.0, 0.0, np.pi + 0.1, 0.0, 0.0]))
fshs.predict()
fshs.update(np.array([1.0, 1.0, np.pi + 2 * np.pi, 0.0, 0.0]))
assert np.allclose(
fshs.coords,
np.array(
[
[
0.66666667,
0.33333466,
0.66666667,
0.33333466,
3.17492599,
-0.03333376,
0.0,
0.0,
]
]
),
)