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Improve debug mode.

kalman-mex
Stéphane Adjemian (Argos) 2023-11-05 19:26:29 +01:00
parent 17e1b60537
commit a5ccc7aa5b
Signed by: stepan
GPG Key ID: A6D44CB9C64CE77B
1 changed files with 31 additions and 24 deletions
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55
tests/kalman/likelihood/test_kalman_mex.m
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@ -1,6 +1,11 @@
debug = true;
source_dir = getenv('source_root');
if debug
source_dir = fileparts(mfilename('fullpath'));
source_dir = sprintf('%s/../../../', source_dir)
else
source_dir = getenv('source_root');
end
mex_path = [source_dir filesep 'build-matlab'];
addpath(mex_path);
@ -40,36 +45,36 @@ Experience.kalman_filter_matlab = kalman_filter_matlab;
Experience.kalman_filter_mex = kalman_filter_mex;
try
flag = compare_kalman_mex(Experience);
if (flag)
testFailed = testFailed+1;
if debug
dprintf('MEX and MATLAB Kalman filters lead to different results')
end
end
flag = compare_kalman_mex(Experience);
if (flag)
testFailed = testFailed+1;
if debug
dprintf('MEX and MATLAB Kalman filters lead to different results')
end
end
catch
testFailed = testFailed+1;
if debug
dprintf('Comparison between MEX and MATLAB Kalman filters failed')
end
testFailed = testFailed+1;
if debug
dprintf('Comparison between MEX and MATLAB Kalman filters failed')
end
end
dprintf('Test 2: measurement error with diagonal variance-covariance matrix')
Experience.MeasurementErrors = 1;
try
flag = compare_kalman_mex(Experience);
if (flag)
testFailed = testFailed+1;
if debug
dprintf('MEX and MATLAB Kalman filters lead to different results')
end
end
flag = compare_kalman_mex(Experience);
if (flag)
testFailed = testFailed+1;
if debug
dprintf('MEX and MATLAB Kalman filters lead to different results')
end
end
catch
testFailed = testFailed+1;
if debug
dprintf('Comparison between MEX and MATLAB Kalman filters failed')
end
testFailed = testFailed+1;
if debug
dprintf('Comparison between MEX and MATLAB Kalman filters failed')
end
end
dprintf('Test 3: measurement error with general variance-covariance matrix')
@ -98,4 +103,6 @@ t1 = clock;
fprintf('\n*** Elapsed time (in seconds): %.1f\n\n', etime(t1, t0));
quit(testFailed > 0)
if ~debug
quit(testFailed > 0)
end