kf.py 文件源码

def nll(self, r):
        """Get the nll score of assigning a measurement to the filter."""
        zhat, H = r.mfn(self.x)
        dz = r.z - zhat
        S = H @ self.P @ H.T + r.R
        score = dz.T @ inv(S) @ dz / 2.0 + ln(2 * pi * sqrt(det(S)))
        return float(score)