Closed f-fl0 closed 10 months ago
All modified and coverable lines are covered by tests :white_check_mark:
Comparison is base (
8d8835f
) 91.72% compared to head (14acbab
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@at-wat I added some simple tests in 14acbab7216b56363b698515e7abd22d91f673c7 but let me know if you have better suggestions.
With the current implementation on the
master
branch, the entropy of the particle filter seems to be always calculated after resampling or resizing the number of particles which reset each particle probability to1 / num_particles
. Thus the reported entropy is always the same. In this PR, this quantity is calculated in themeasure
function to represent the entropy of the particle filter right after the particles probabilities are updated based on the measurement likelihood.