search

ser94mor / sensor-fusion

Filters: KF, EKF, UKF || Process Models: CV, CTRV || Measurement Models: Radar, Lidar
GNU General Public License v3.0
182 stars 57 forks source link

state_dims involved in computation in UKF #24

Closed Hello-Water closed 4 years ago

Hello-Water commented 4 years ago

图片

hello, Should this ‘state_dims’ be ‘AugmentedStateDims’?

ser94mor commented 4 years ago

Hello, @JackingW !

It is a template arguments and the Weights() function is used in several places in the code. At least once this function is used with augmented state dims (https://github.com/ser94mor/sensor-fusion/blob/master/src/filters/UnscentedKalmanFilter.hpp#L263), and once with ordinary state dims (https://github.com/ser94mor/sensor-fusion/blob/master/src/filters/UnscentedKalmanFilter.hpp#L396). So, the answer is no, it should not be augmented state dims.

Hello-Water commented 4 years ago

Thank you, @ser94mor ! I understand now, your code is so beautiful !

ser94mor commented 4 years ago

Thank you, @JackingW !