From d483967b52ab8b2cc142c5ba633ec9a628960ee6 Mon Sep 17 00:00:00 2001
From: mgrouch <mgrushinskiy@gmail.com>
Date: Sun, 13 Nov 2022 05:21:55 -0500
Subject: [PATCH] kalman with integral drift correction (adj mean)

---
 rust/src/main.rs | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/rust/src/main.rs b/rust/src/main.rs
index b063913..c1f1512 100644
--- a/rust/src/main.rs
+++ b/rust/src/main.rs
@@ -30,6 +30,10 @@ fn get_f64(record: &StringRecord, index: usize) -> f64 {
     record.get(index).expect(&*format!("Missing field {index}")).trim().parse::<f64>().unwrap()
 }
 
+fn mean(numbers: &Vec<f64>) -> f64 {
+    numbers.iter().sum::<f64>() as f64 / numbers.len() as f64
+}
+
 fn main() {
     let (time, acc, pos, _ /*vel*/) = read_data("../test-data.txt");
 
@@ -69,7 +73,7 @@ fn main() {
         data.push(Vector::new(vec![0.0]));
     }
 
-    let acc_mean = -0.08; // TODO: calculate it
+    let acc_mean = mean(&acc);
 
     // With no integral drift correction
     let mut predicted: Vec<KalmanState> = Vec::with_capacity(n_timesteps+1);