Bug in Cubature Kalman Filter : residual_x not used

rlabbe / filterpy

Python Kalman filtering and optimal estimation library. Implements Kalman filter, particle filter, Extended Kalman filter, Unscented Kalman filter, g-h (alpha-beta), least squares, H Infinity, smoothers, and more. Has companion book 'Kalman and Bayesian Filters in Python'.

MIT License

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Bug in Cubature Kalman Filter : residual_x not used #280

Open veylonni opened 1 year ago

veylonni commented 1 year ago

Hi,

It seems that there is an bug in the Cubature Kalman Filter : the constructor's argument residual_x is not used, and must be used here :

https://github.com/rlabbe/filterpy/blob/3b51149ebcff0401ff1e10bf08ffca7b6bbc4a33/filterpy/kalman/CubatureKalmanFilter.py#L378