renamed fir window generators;

minor edits to whitespace and comments for more consistent style;

1 files changed, 15 insertions, 11 deletions

diff --git a/kalman_init.awk b/kalman_init.awk
index 57f7bbd..757d80b 100644
--- a/kalman_init.awk
+++ b/kalman_init.awk
@@ -1,7 +1,8 @@
 #!/usr/bin/awk -f
 
-### kalman.awk
-# kalman csv experiemnt
+### kalman_init.awk
+# kalman filter csv experiemnt
+
 
 BEGIN {
     sign = "[+-]?"
@@ -11,6 +12,8 @@ BEGIN {
     number = "^" sign "(" decimal "|" fraction ")" exponent "$"
 }
 
+
+# column headers
 NR == 1 {
     header_nf = NF
     for (n=1; n<=NF; n++) {
@@ -18,12 +21,12 @@ NR == 1 {
     }
 }
 
-NF != 0 {
+
+NF > 0 {
     print ORS NR ":" OFS $0 ORS
-    if (NF > max_nf)
-        max_nf = NF
+    (NF > nf_max) ? nf_max = NF : nf_max = nf_max
 
-    ### iterate over columns
+    # columns
     for (n=1; n<=max_nf; n++) {
         if ($n ~ number) {
             count[n] = ($n ~ number) + (last[n] ~ number) + (last2[n] ~ number)
@@ -42,7 +45,7 @@ NF != 0 {
                 meas_err[n] = sqrt(var[n]/count[n])
             }
 
-            ### error covariance
+            # error covariance
             for (m=1; m<=max_nf; m++) {
                 count[m,n]++
                 sum_xy[m,n] += 1
@@ -52,7 +55,7 @@ NF != 0 {
                 print meas_cov[m,n], est_err_last_cov[m,n]
             }
 
-            ### kalman gain
+            # kalman gain
             if (count[n] <= 1) {
                 Gk[n] = 1
                 est_err[n] = sqrt(diff[n]*diff[n]) + 2.0*sqrt(diff2[n]*diff2[n])
@@ -61,17 +64,17 @@ NF != 0 {
             else
                 Gk[n] = est_err_last[n]/(est_err_last[n] + meas_err[n])
 
-            ### update estimate and estimated error
+            # update estimate and estimated error
             est[n] = est_last[n] + Gk[n]*($n - est_last[n])
             est_err[n] = (1.0 - Gk[n])*est_err_last[n]
 
-            ### visual check
+            # visual check
             printf "meas: " OFS OFMT OFS OFMT OFS OFMT, $n, meas_err[n], count[n]
             printf "d1: " OFS OFMT, diff[n]
             printf "d2: " OFS OFMT, diff2[n]
             printf "est: " OFS OFMT OFS OFMT OFS OFMT, est[n], est_err[n], Gk[n]
 
-            ### update previously remembered values
+            # update previously remembered values
             last2[n] = last[n]
             last[n] = $n
             diff_last2[n] = diff_last[n]
@@ -86,3 +89,4 @@ NF != 0 {
         }
     }
 }
+