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test impl kalman delta on gdx

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minjaesong
2019-01-22 06:11:31 +09:00
parent 86fdeaf096
commit a59a1d5c2f
3 changed files with 760 additions and 7 deletions
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16
src/net/torvald/terrarum/AppLoader.java
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@@ -267,17 +267,19 @@ public class AppLoader implements ApplicationListener {
// TODO implement nonlinear kalman filter
// kalman filter is calculated but not actually being used.
// the problem with this kalman filter is that it assumes most simplistic situation:
// 1. the actual delta (measured delta - noise) is constant
// The problem with this kalman filter is that it assumes most simplistic situation:
// 1. the actual delta (measured delta - noise) is constant (that is, not constantly increasing or something)
// 2. everything is linear
// we may need to implement Extended Kalman Filter but wtf is Jacobian, I suck at maths.
// Instead, the kalman filter will reset when new delta is given-value-times greater/lesser
// it's not perfect but it works.
// We may need to implement Extended Kalman Filter but what is Jacobian, I suck at maths.
//
// Instead, this implementation will reset itself when difference in magnitude between
// old and new is greater than set value.
//
// It's not perfect but it works, much better than averaging.
double observation = ((double) Gdx.graphics.getRawDeltaTime());
if (getMul(observation, _kalman_return_value) >= 1.2) {
if (getMul(observation, _kalman_return_value) >= 2.0) {
resetDeltaSmoothingHistory();
}