analyze_hypothesis.m

用EKF

function analyze_hypothesis (prediction, observations, H)
%-------------------------------------------------------
% University of Zaragoza
% Centro Politecnico Superior
% Robotics and Real Time Group
% Authors:  J. Neira, J. Tardos
% Date   :  7-2006
%-------------------------------------------------------
global configuration chi2 compatibility;


for i=1:length(H),
    if H(i)
        d2 = joint_mahalanobis2 (prediction, observations, H(1:i));
        dof = 2*length(find(H(1:i)));
        if dof > 0
            answer = d2 < chi2(dof);
            disp(sprintf('i: %d, d^2 %f, chi^2 %f, ans %d', i, d2, chi2(dof), answer));
        end
    end
end
disp(' ');