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jacobnzw / SSMToybox

Nonlinear Sigma-Point Kalman Filters based on Bayesian Quadrature
MIT License
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Wrong CoordinatedTurnTransition.dim_noise #28

Closed jacobnzw closed 3 years ago

jacobnzw commented 3 years ago

CoordinatedTurnTransition.dim_noise should be 2, instead of 5.

Run GPQMO.test_optimize() to check.

jacobnzw commented 3 years ago

The problem isn't with the dim_noise but that the covariance needs to be specified as 5-dimensional. in GPQMO.test_optimize().

The covariance depends on dt, which is also the discretization parameter given in the CoordinatedTurnTransition.