/// <summary>
/// Constructor
/// </summary>
/// <param name="initial_x">Initial x location</param>
/// <param name="initial_y">Initial y location</param>
/// <param name="covariance">Initial covariance value</param>
public DiscreteKalman2d(double initial_x, double initial_y, double covariance)
{
_location = new Location2d(initial_x, initial_y);
_location.SetCovarianceDiagonal(covariance);
dkf = new DiscreteKalmanFilter(_location.Initial, _location.Cov);
}
/// <summary>
/// Constructor
/// </summary>
/// <param name="initialLocation">Initial location object</param>
public DiscreteKalman2d(Location2d initialLocation)
{
_location = initialLocation ?? throw new ArgumentException("Initial location required");
dkf = new DiscreteKalmanFilter(initialLocation.Initial, initialLocation.Cov);
}
