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Re: Backpropagation in Kalman Filter [message #18121 is a reply to message #18120] Wed, 08 April 2015 22:07 Go to previous message
StefanoSpataro is currently offline  StefanoSpataro
Messages: 2736
Registered: June 2005
Location: Torino
first-grade participant

From: *ip70.fastwebnet.it
The feature is already in the release, simply it is not used by default.
You need to switch off the back propagation and set 2 as propagation distance in the reco macro:

...
recoKalman->SetPropagateToIP(kFALSE);
recoKalman->SetPropagateDistance(2.f);
...
recoKalmanFwd->SetPropagateToIP(kFALSE);
recoKalmanFwd->SetPropagateDistance(2.f);
...


In reality because of a small bug it will back propagate of 1 cm and not 2 cm, but it will be fine the same.
 
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