<s> """<STR_LIT>""" <EOL> from __future__ import ( absolute_import , division , print_function , <EOL> unicode_literals ) <EOL> import matplotlib . pyplot as plt <EOL> from numpy . random import randn <EOL> import numpy as np <EOL> from filterpy . memory import FadingMemoryFilter <EOL> from filterpy . gh import GHKFilter <EOL> def dotest_2d_data ( ) : <EOL> """<STR_LIT>""" <EOL> fm = FadingMemoryFilter ( x0 = np . array ( [ [ <NUM_LIT:0.> , <NUM_LIT> ] , [ <NUM_LIT:0.> , <NUM_LIT:0.> ] ] ) , dt = <NUM_LIT:1> , order = <NUM_LIT:1> , beta = <NUM_LIT> ) <EOL> xs = [ x for x in range ( <NUM_LIT:0> , <NUM_LIT:50> ) ] <EOL> for x in xs : <EOL> data = [ x + randn ( ) * <NUM_LIT:3> , x + <NUM_LIT:2> + randn ( ) * <NUM_LIT:3> ] <EOL> fm . update ( data ) <EOL> plt . scatter ( fm . x [ <NUM_LIT:0> , <NUM_LIT:0> ] , fm . x [ <NUM_LIT:0> , <NUM_LIT:1> ] , c = '<STR_LIT:r>' ) <EOL> plt . scatter ( data [ <NUM_LIT:0> ] , data [ <NUM_LIT:1> ] , c = '<STR_LIT:b>' ) <EOL> def dotest_1d ( order , beta ) : <EOL> fm = FadingMemoryFilter ( x0 = <NUM_LIT:0> , dt = <NUM_LIT:1> , order = order , beta = beta ) <EOL> xs = [ x for x in range ( <NUM_LIT:0> , <NUM_LIT:50> ) ] <EOL> fxs = [ ] <EOL> for x in xs : <EOL> data = x + randn ( ) * <NUM_LIT:3> <EOL> fm . update ( data ) <EOL> plt . scatter ( x , fm . x [ <NUM_LIT:0> ] , c = '<STR_LIT:r>' ) <EOL> fxs . append ( fm . x [ <NUM_LIT:0> ] ) <EOL> plt . scatter ( x , data , c = '<STR_LIT:b>' ) <EOL> plt . plot ( fxs , c = '<STR_LIT:r>' ) <EOL> def test_ghk_formulation ( ) : <EOL> beta = <NUM_LIT> <EOL> g = <NUM_LIT:1> - beta ** <NUM_LIT:3> <EOL> h = <NUM_LIT> * ( <NUM_LIT:1> + beta ) * ( <NUM_LIT:1> - beta ) ** <NUM_LIT:2> <EOL> k = <NUM_LIT:0.5> * ( <NUM_LIT:1> - beta ) ** <NUM_LIT:3> <EOL> f1 = GHKFilter ( <NUM_LIT:0> , <NUM_LIT:0> , <NUM_LIT:0> , <NUM_LIT:1> , g , h , k ) <EOL> f2 = FadingMemoryFilter ( x0 = <NUM_LIT:0> , dt = <NUM_LIT:1> , order = <NUM_LIT:2> , beta = beta ) <EOL> def fx ( x ) : <EOL> return <NUM_LIT> * x ** <NUM_LIT:2> + <NUM_LIT:2> * x - <NUM_LIT:3> <EOL> for i in range ( <NUM_LIT:1> , <NUM_LIT:100> ) : <EOL> z = fx ( i ) <EOL> f1 . update ( z ) <EOL> f2 . update ( z ) <EOL> assert abs ( f1 . x - f2 . x [ <NUM_LIT:0> ] ) < <NUM_LIT> <EOL> if __name__ == "<STR_LIT:__main__>" : <EOL> test_ghk_formulation ( ) <EOL> '''<STR_LIT>''' </s>
