codecov[bot]
commented
3 months ago Codecov Report
All modified and coverable lines are covered by tests :white_check_mark:
Project coverage is 93.50%. Comparing base (
b90b598) to head (6571cdc). Report is 16 commits behind head on main.
Additional details and impacted files
```diff @@ Coverage Diff @@ ## main #973 +/- ## ========================================== + Coverage 93.49% 93.50% +0.01% ========================================== Files 201 201 Lines 12837 12873 +36 Branches 2629 2634 +5 ========================================== + Hits 12002 12037 +35 Misses 590 590 - Partials 245 246 +1 ``` | [Flag](https://app.codecov.io/gh/dstl/Stone-Soup/pull/973/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=dstl) | Coverage Δ | | |---|---|---| | [integration](https://app.codecov.io/gh/dstl/Stone-Soup/pull/973/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=dstl) | `66.13% <35.13%> (-0.10%)` | :arrow_down: | | [unittests](https://app.codecov.io/gh/dstl/Stone-Soup/pull/973/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=dstl) | `89.14% <100.00%> (+0.02%)` | :arrow_up: | Flags with carried forward coverage won't be shown. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=dstl#carryforward-flags-in-the-pull-request-comment) to find out more.:umbrella: View full report in Codecov by Sentry.
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Data association in stone soup occurs in the measurement state space. This pull request introduces
TrackingStateSpaceDistanceGater, a gater than operates in the tracking state space (not the measurement state space). As the gate is in the tracking state space, measurements must use a measurement model that is either aReversibleModelor aLinearModel.This model will be particularly useful in the following example: The sensor is located at [0, 0]. A target is located at [0, 1000]. This corresponds to a bearing-range measurement of [pi/2, 1000]. A clutter detection has a measurement of [0, 1000] (x, y = [1000, 0]). The
Euclideandistance in measurement state space between the target and the clutter measurement is only 1.57 (pi/2). Unless the gate size is small, this would pass aDistanceGater. While theEuclideandistance in tracking state space between the target and the clutter measurement is 1414. Unless the gate size was very large this wouldn’t pass aTrackingStateSpaceDistanceGater.