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mherb / kalman

Header-only C++11 Kalman Filtering Library (EKF, UKF) based on Eigen3
MIT License
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Problem: Eigen3 find script is not updated in master branch / calculation of sigma weights on windows corrupted #23

Closed rigra closed 6 years ago

rigra commented 6 years ago

Details: 1) in develop branch the Eigen3 find script was already updated but not in the master branch 2) on windows x64 machine, the calculation of the sigmaweights_m does not lead to the sum of 1 which is necessary (W_m_0 + L* W_m_i == 1) Solution: 1) cherry pick the commit of the updated Eigen3 find script 2) change the calculation of W_m_i to a mathematical equivalent formula with better results on windows x 64

mherb commented 6 years ago

First of all, thank you very much for your contribution!

I have a couple of requests here before merging:

  1. Could you make two separate PRs for the eigen cherry-pick and the numerics issue?
  2. I'd prefer to have clean PRs without tons of re-formatting and a dozen commits that actually change a single line, so while re-creating the PRs, could you maybe cleanup the actual changes into a single commit changing only what has actually changed?
  3. (optional) Can you make a unit-test for the numerics issue to avoid future regressions with regard to this?

Thanks!

rigra commented 6 years ago

Hi, I will close this PR and set up two new one.

rigra commented 6 years ago

26 and #27 substitute this