Closed FelipeGiro closed 2 years ago
I reverted this pull request. I am getting unit test errors when running py.test.
If you want to fix these and resubmit that is fine. I do ask that the py.test routines follow PEP conventions - two blank lines after functions, spaces after commas, etc.
Implemented Generalized sigma-points
Source:
This is a part of my research. I am investigating continuous representation for structural reliability, that usually is a exponential distribution. So, this method partially solve my problem, because it estimates quite accurately the first 4 statistical moments of most distributions. Perhaps it is interesting to have it in filterpy.
Soon, I will test it for UKF and push it into tests, but for some rapid tests I did here, it work pretty well.
Where were basically two modifications:
Note that is necessary for this method the use of the first 4 moments. So far, you have to add x and P twice, first in the class initialization and then in _sigmapoints function. It has a warning when the values are different. Perhaps it is better to exclude the inputs in _sigmapoints function.
This library helped me a lot to understand Kalman Filters, so I would like to contribute somehow.