Merge pull request #76 from piercus/develop

Develop

Author: piercus

.github/workflows/test.yml

@@ -1,6 +1,6 @@
 name: Node.js CI
 
-on: [push]
+on: [push, pull_request]
 
 jobs:
   build:

.gitignore

@@ -104,3 +104,4 @@ typings/
 
 # dist is generated in the deployment process from src
 dist/
+cjs/

demo/bike/main.js

@@ -41,7 +41,9 @@ module.exports = {
 					predicted = kf.predict({previousCorrected});
 					const {mean, covariance} = predicted;
 
-					const element = createGroupBoxes({mean, covariance, parent: img, className: 'predicted', color: 'blue'});
+					const element = createGroupBoxes({
+mean, covariance, parent: img, className: 'predicted', color: 'blue',
+});
 					els.push(element);
 
 					return delayPromise(delay);
@@ -67,7 +69,9 @@ module.exports = {
 					previousCorrected = kf.correct({predicted, observation: b});
 					const {mean, covariance} = previousCorrected;
 
-					const element = createGroupBoxes({mean, covariance, parent: img, className: 'corrected', color: 'red'});
+					const element = createGroupBoxes({
+mean, covariance, parent: img, className: 'corrected', color: 'red',
+});
 					els.push(element);
 
 					return delayPromise(delay);

demo/bouncing-ball/main.js

@@ -27,7 +27,9 @@ module.exports = {
 					predicted = kf.predict({previousCorrected});
 					const {mean, covariance} = predicted;
 
-					createGroupPoint({mean, covariance, parent: img, className: 'predicted', color: 'blue'});
+					createGroupPoint({
+mean, covariance, parent: img, className: 'predicted', color: 'blue',
+});
 
 					return delayPromise(delay);
 				})
@@ -54,7 +56,9 @@ module.exports = {
 					previousCorrected = kf.correct({predicted, observation: b});
 					const {mean, covariance} = previousCorrected;
 
-					createGroupPoint({mean, covariance, parent: img, className: 'corrected', color: 'red'});
+					createGroupPoint({
+mean, covariance, parent: img, className: 'corrected', color: 'red',
+});
 
 					return delayPromise(delay);
 				}).bind(null, box, index));

demo/shared/views/create-group-boxes.js

@@ -73,7 +73,7 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 		color,
 	});
 	const arrowRotation = (-1 * Math.atan(mean[4][0] / mean[5][0]) * 180 / Math.PI) - 45;
-	const arrowScale = Math.sqrt((mean[4][0] ** 2) + (mean[5][0] ** 2));
+	const arrowScale = Math.hypot(mean[4][0], mean[5][0]);
 	createArrow({
 		className: 'arrow',
 		bbox: [

demo/shared/views/create-group-point.js

@@ -28,7 +28,7 @@ module.exports = function ({mean, covariance, color, parent, className, tag = 'd
 		color,
 	});
 	const arrowRotation = (-1 * Math.atan(mean[2][0] / mean[3][0]) * 180 / Math.PI) - 45;
-	const arrowScale = Math.sqrt((mean[2][0] ** 2) + (mean[3][0] ** 2));
+	const arrowScale = Math.hypot(mean[2][0], mean[3][0]);
 	createArrow({
 		className: 'arrow',
 		bbox: [

index.js

@@ -0,0 +1,31 @@
+import * as modelCollection from './lib/model-collection';
+import * as defaultDynamicModels from './lib/dynamic';
+import * as defaultObservationModels from './lib/observation';
+
+function camelToDash(str: string) {
+	if (str === str.toLowerCase()) {
+		return str;
+	}
+	return str.replaceAll(/[A-Z]/g, m => '-' + m.toLowerCase());
+}
+
+Object.keys(defaultDynamicModels).forEach((k: string) => {
+
+	modelCollection.registerDynamic(camelToDash(k), defaultDynamicModels[k]);
+});
+
+Object.keys(defaultObservationModels).forEach((k: string) => {
+	modelCollection.registerObservation(camelToDash(k), defaultObservationModels[k]);
+});
+
+export * from './lib/model-collection';
+export * from './lib/dynamic';
+export * from './lib/observation';
+
+export {default as KalmanFilter} from './lib/kalman-filter';
+export {default as getCovariance} from './lib/utils/get-covariance';
+export {default as State} from './lib/state';
+export {default as checkCovariance} from './lib/utils/check-covariance';
+export {default as correlationToCovariance} from './lib/utils/correlation-to-covariance';
+export {default as covarianceToCorrelation} from './lib/utils/covariance-to-correlation';
+export {default as projectObservation} from './lib/utils/project-observation';