mpc-control 0.2.1__tar.gz → 0.2.2__tar.gz

{mpc_control-0.2.1/mpc_control.egg-info → mpc_control-0.2.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mpc-control
-Version: 0.2.1
+Version: 0.2.2
 Summary: A Python library for Model Predictive Control (MPC)
 Author-email: Zhen Ni <z.ni@hotmail.com>
 License-Expression: MIT

{mpc_control-0.2.1 → mpc_control-0.2.2}/mpc/kalman.py

@@ -134,14 +134,14 @@ class Ekf:
         """
         if self._linearized is None:
             raise RuntimeError('Should call `predict` before updating.')
-        c = self._linearized.output_matrix
+        c, v = self._system._linearize_output(self._x)
         # Calculate innovation covariance `S`.
         S = c @ self._p @ c.T + r
         # Calculate Kalman gain `k`.
         # k = p @ C.T @ inv(S) is equivalent to k.T = solve(S, C @ p)
         k = np.linalg.solve(S, c @ self._p).T
         # Calculate the updated state vector `x`.
-        x = self._x + k @ (np.asarray(z) - c @ self._x)
+        x = self._x + k @ (np.asarray(z) - c @ self._x - v)
         # Calculate the updated uncertainty `p` for the state vector.
         T = np.eye(k.shape[0]) - k @ c
         p = T @ self._p @ T.T + k @ r @ k.T

{mpc_control-0.2.1 → mpc_control-0.2.2/mpc_control.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mpc-control
-Version: 0.2.1
+Version: 0.2.2
 Summary: A Python library for Model Predictive Control (MPC)
 Author-email: Zhen Ni <z.ni@hotmail.com>
 License-Expression: MIT

{mpc_control-0.2.1 → mpc_control-0.2.2}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "mpc-control"
-version = "0.2.1"
+version = "0.2.2"
 description = "A Python library for Model Predictive Control (MPC)"
 readme = "README.md"
 requires-python = ">=3.12"