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udacity / CarND-Kidnapped-Vehicle-Project

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Fix ParticleFilter::updateWeights std_landmark[] argument description #1

Closed eminnett closed 7 years ago

eminnett commented 7 years ago

A discussion with a fellow student lead us to believe that the description for the std_landmark[] argument for ParticleFilter::updateWeights() in particle_filter.h is incorrect.

Following the logic from lines 43 and 115 of main.cpp

double sigma_landmark [2] = {0.3, 0.3}; // Landmark measurement uncertainty [x [m], y [m]]

and

pf.updateWeights(sensor_range, sigma_landmark, noisy_observations, map);

respectively.

This suggests that the std_landmark argument reflects the measurement uncertainties of x and y, not range and bearing.

I hope I have correctly interpreted the ambiguity and that you think this correction is worth merging.

eminnett commented 7 years ago

I've since pushed my solution to the project not realising it would impact this PR. I will create a new PR with only the relevant commit.

asimonov commented 7 years ago

Yes, looks like the description of std_landmark in particle_filter.h is wrong.