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#include "cvtest.h"

class CV_KalmanTest : public CvTest
{
public:
    CV_KalmanTest();
protected:
    void run(int);
};


CV_KalmanTest::CV_KalmanTest():
    CvTest( "kalman", "cvKalmanPredict, cvKalmanCorrect" )
{
    support_testing_modes = CvTS::CORRECTNESS_CHECK_MODE;
}

void CV_KalmanTest::run( int )
{
    int code = CvTS::OK;
    const int Dim = 7;
    const int Steps = 100;
    const double max_init = 1;
    const double max_noise = 0.1;
    
    const double EPSILON = 1.000;
    CvRNG* rng = ts->get_rng();
    CvKalman* Kalm;
    int i, j;
    
    CvMat* Sample = cvCreateMat(Dim,1,CV_32F);
    CvMat* Temp = cvCreateMat(Dim,1,CV_32F);
    
    Kalm = cvCreateKalman(Dim, Dim);
    CvMat Dyn = cvMat(Dim,Dim,CV_32F,Kalm->DynamMatr);
    CvMat Mes = cvMat(Dim,Dim,CV_32F,Kalm->MeasurementMatr);
    CvMat PNC = cvMat(Dim,Dim,CV_32F,Kalm->PNCovariance);
    CvMat MNC = cvMat(Dim,Dim,CV_32F,Kalm->MNCovariance);
    CvMat PriErr = cvMat(Dim,Dim,CV_32F,Kalm->PriorErrorCovariance);
    CvMat PostErr = cvMat(Dim,Dim,CV_32F,Kalm->PosterErrorCovariance);
    CvMat PriState = cvMat(Dim,1,CV_32F,Kalm->PriorState);
    CvMat PostState = cvMat(Dim,1,CV_32F,Kalm->PosterState);
    cvSetIdentity(&PNC);
    cvSetIdentity(&PriErr);
    cvSetIdentity(&PostErr);
    cvSetZero(&MNC);
    cvSetZero(&PriState);
    cvSetZero(&PostState);
    cvSetIdentity(&Mes);
    cvSetIdentity(&Dyn);
    cvRandArr(rng, Sample, CV_RAND_UNI, cvScalarAll(-max_init), cvScalarAll(max_init));
    cvKalmanCorrect(Kalm, Sample);
    for(i = 0; i<Steps; i++)
    {
        cvKalmanPredict(Kalm);
        for(j = 0; j<Dim; j++)
        {
            float t = 0;
            for(int k=0; k<Dim; k++)
            {
                t += Dyn.data.fl[j*Dim+k]*Sample->data.fl[k];
            }
            Temp->data.fl[j]= (float)(t+(cvTsRandReal(rng)*2-1)*max_noise);
        }
        cvCopy( Temp, Sample );
        cvKalmanCorrect(Kalm,Temp);
    }

    code = cvTsCmpEps2( ts, Sample, Kalm->state_post, EPSILON, false, "The final estimated state" );

    cvReleaseMat(&Sample);
    cvReleaseMat(&Temp);
    cvReleaseKalman(&Kalm);
    
    if( code < 0 )
        ts->set_failed_test_info( code );
}

CV_KalmanTest kalman_test;


/* End of file. */
