Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix for UnscentedKalmannFilter #195

Open
wants to merge 2 commits into
base: v3.0.2
Choose a base branch
from
Open

Fix for UnscentedKalmannFilter #195

wants to merge 2 commits into from

Conversation

condor-cp
Copy link

I wasn't able to run the UnscentedKalmannFilter without these two modifications :

  • Run the method "computeWeights" in the constructor
  • Change the signature of computePredictionFromSigmaPoints to return an Eigen vector and not assume it is a state_vector or output_vector.

I guess the problems remained undetected because in the test built for Kalmann Filtering, STATE_DIM == OUTPUT_DIM == 2

@condor-cp
Copy link
Author

Should I do this pull request in the v3.0.3-devel branch ?

@markusgft
Copy link
Member

re-running unit tests.

@condor-cp
Copy link
Author

I just rebased my fork on the upstream v3.0.2 since the PR was not applied. I also added a commit to make hpipm mode configurable.

I thought the current PR would have been unaffected but I see it mirrored the changes I made in my forked branch.

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@markusgft markusgft markusgft approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@condor-cp @markusgft