/// <summary>
/// Creates a new KalmanFilter instance.
/// </summary>
/// <param name="q">Process noise covariance.</param>
/// <param name="r">Sensor noise covariance.</param>
/// <param name="p">Estimation error covariance.</param>
public KalmanFilter(float q = 0.06f, float r = 1.5f, float p = 0.08f)
{
_state = new KalmanState();
_state.value = new Vector3();
_state.q = q;
_state.r = r;
_state.p = p;
}
internal Controller()
{
//LUKA CODE
processNoise = 0.1f;
sensorNoise = 1.0f;
estimatedError = 0.25f;
kStates = new KalmanState[3];
for(int i=0; i<kStates.Length; i++){
kStates[i] = new KalmanState(processNoise,sensorNoise,0.0f,estimatedError,0);
}
//ENDOF LUKA CODE
m_Enabled = false;
m_Docked = false;
m_Hand = SixenseHands.UNKNOWN;
m_HandBind = SixenseHands.UNKNOWN;
m_Buttons = 0;
m_ButtonsPrevious = 0;
m_Trigger = 0.0f;
m_JoystickX = 0.0f;
m_JoystickY = 0.0f;
m_Position.Set( 0.0f, 0.0f, 0.0f );
m_Rotation.Set( 0.0f, 0.0f, 0.0f, 1.0f );
}
