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update pipfile.lock (#1896) 

* update pipfile

* matrix is deprecated

* Numpy almost equal

* sympy 1.6
pull/1904/head
Willem Melching 2020-07-21 21:15:09 +02:00 committed by GitHub
parent 825821f010
commit 95b0c69c12
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4 changed files with 520 additions and 474 deletions
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2
Pipfile
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@ -92,7 +92,7 @@ requests = "*"
setproctitle = "*"
six = "*"
smbus2 = "*"
sympy = "*"
sympy = "!=1.6.1"
tqdm = "*"
Cython = "*"
PyYAML = "*"

970
Pipfile.lock generated
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File diff suppressed because it is too large Load Diff

2
common/kalman/simple_kalman_old.py
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@ -8,7 +8,7 @@ class KF1D:
def __init__(self, x0, A, C, K):
self.x = x0
self.A = A
self.C = C
self.C = np.atleast_2d(C)
self.K = K
self.A_K = self.A - np.dot(self.K, self.C)

20
common/kalman/tests/test_simple_kalman.py
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@ -21,10 +21,10 @@ class TestSimpleKalman(unittest.TestCase):
K0_0 = 0.12287673
K1_0 = 0.29666309
self.kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
self.kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
self.kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],
@ -47,8 +47,8 @@ class TestSimpleKalman(unittest.TestCase):
x = self.kf.update(v_wheel)
# Compare the output x, verify that the error is less than 1e-4
self.assertAlmostEqual(x_old[0], x[0])
self.assertAlmostEqual(x_old[1], x[1])
np.testing.assert_almost_equal(x_old[0], x[0])
np.testing.assert_almost_equal(x_old[1], x[1])
def test_new_is_faster(self):
setup = """
@ -69,10 +69,10 @@ C0_1 = 0.0
K0_0 = 0.12287673
K1_0 = 0.29666309
kf_old = KF1D_old(x0=np.matrix([[x0_0], [x1_0]]),
A=np.matrix([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.matrix([C0_0, C0_1]),
K=np.matrix([[K0_0], [K1_0]]))
kf_old = KF1D_old(x0=np.array([[x0_0], [x1_0]]),
A=np.array([[A0_0, A0_1], [A1_0, A1_1]]),
C=np.array([C0_0, C0_1]),
K=np.array([[K0_0], [K1_0]]))
kf = KF1D(x0=[[x0_0], [x1_0]],
A=[[A0_0, A0_1], [A1_0, A1_1]],