Inertial_Calibration.py 文件源码

def update(self,new):
        # Preload
        if(self.index < self.N):
            self.window[self.index] = new
            self.index += 1

            # If Window preloaded - start rolling statistics
            if(self.index == self.N):
                self.average = statistics.mean(self.window)
                self.variance = statistics.variance(self.window)
            return

        # Push element into window list and remove the old element
        old = self.window[0]
        self.window.pop(0)
        self.window.append(new)

        oldavg = self.average
        newavg = oldavg + (new - old)/self.N
        self.average = newavg
        if(self.N > 1):
            self.variance += (new-old)*(new-newavg+old-oldavg)/(self.N-1)