Merge pull request #70 from piercus/explicit-mat-0-0

fix array[0][0]
piercus · Feb 28, 2024 · a7ced5c · a7ced5c
2 parents 94fdb50 + 85d1929
commit a7ced5c
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diff --git a/lib/state.js b/lib/state.js
@@ -125,7 +125,7 @@ class State {
 					covarianceInvert,
 				),
 				diff,
-			),
+			)[0][0],
 		);
 		if (Number.isNaN(value)) {
 			console.log({diff, covarianceInvert, this: this, point}, matMul(

diff --git a/test/unit/core/trivial.js b/test/unit/core/trivial.js
@@ -104,7 +104,7 @@ test('Huge predicted covariance', t => {
 	});
 	const kalmanGain = kf.getGain({predicted, stateProjection: [[1]]});
 	t.true(corrected instanceof State);
-	t.true(kalmanGain > 0.99);
+	t.true(kalmanGain[0][0] > 0.99);
 });
 
 // Test 4a: Play with dynamic and previousCorrected covariances