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/*
* =====================================================================================
*
* Filename: test_filter.cpp
*
* Description: Tests the filter class
*
* Version: 1.0
* Created: 03/31/2017 03:13:54 PM
* Revision: none
* Compiler: gcc
*
* Author: Martin Miller (MHM), miller7@illinois.edu
* Organization: Aerospace Robotics and Controls Lab (ARC)
*
* =====================================================================================
*/
#include <iostream>
#include "filter.h"
using std::cout;
using std::endl;
int main(int argc, char **argv)
{
Matrix<double,4,1> b;
Matrix<double,3,1> a;
b << 0.00289819, 0.00869458, 0.00869458, 0.00289819;
a << -2.37409474, 1.92935567, -0.53207537;
a/a[0];
Filter H(b,a);
double x,y,z;
while (scanf("%lf,%lf,%lf", &x, &y, &z)!=EOF) {
Vector3d X, Y;
X << x,y,z;
Y = H.update(X);
cout << "X: " << X.transpose() << " Y: " << Y.transpose() << endl;
}
return 0;
}
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