Speed ups to the Octave inverse dynamics. #129
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This should be faster, hopefully it makes a significant difference. I have not tested this code (sorry) but it's no more than putting the code from rtfilter.m in the for loop in myfiltfilt.m. It would be good to try this version in Python too.
Is no longer needed.
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@tvdbogert I just opened this pull request for your branch. I'll test it out and see what the speed gains are for our real data. |
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FYI, this change doesn't pass the tests anymore. The "Details" links in the "Merge pull request" box give the errors: https://travis-ci.org/csu-hmc/GaitAnalysisToolKit/builds/56442391 I'll debug it unless you want to. |
| F = 4*h*a/denom; | ||
| y(i) = A*y(i-1) + B*yd(i-1) + E*(x(i)+x(i-1))/2; | ||
| yd(i) = C*y(i-1) + D*yd(i-1) + F*(x(i)+x(i-1))/2; | ||
| ydd = (yd(i)-yd(i-1))/h; |
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Should be ydd(i). I'll push the fix.
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