testing the cent_ekf algo

functions/test_simulation.py

@@ -46,7 +46,8 @@ loc_algo = EKF_LS_CI('ls ci')
 robot = RobotSystem('r', dataset_labels, loc_algo, distr_sys = False)
 
 '''
-loc_algo = EKF_LS_CI2('algo')
+#loc_algo = EKF_LS_CI2('algo')
+loc_algo = Centralized_EKF('cent_ekf')
 robot = RobotSystem('robot me', dataset_labels, loc_algo, distr_sys = False)
 
 
@@ -83,4 +84,4 @@ ud = state_recorder.get_update_type_arr()
 t_S = state_recorder.get_trace_sigma_s_arr()
 ud_t = state_recorder.get_updata_type_in_time_order()
 data_sim_t = state_recorder.get_data_in_time_order()
-'''
\ No newline at end of file
+'''