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udacity / robotics-nanodegree-issues

Public waffleboard to track Robotics Nanodegree Issues
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Kalman Filter - vector and scalar #238

Open haoyang-udacity opened 6 years ago

haoyang-udacity commented 6 years ago

In the Kalman Filter part, is there any way to use different forms to differentiate the vector with the scalar? It is very confusing when they are using the same form. For example, it would be better to differentiate vector x with scalar x using different forms.

megrad79 commented 3 years ago

Not sure if there were any updates, but there is some sort of issue with the multidimensional KF in Topic 4 - Localization: Lesson 2 - Kalman Filters: 15. Design of Multidimensional KF. Even the provided solution gives the following error:

main.out: Block.h:141: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index, Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index) [with XprType = Eigen::Matrix<float, -1, -1>; int BlockRows = -1; int BlockCols = -1; bool InnerPanel = false; Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Index = long int]: Assertion `a_startRow >= 0 && blockRows >= 0 && a_startRow <= xpr.rows() - blockRows && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols' failed.

I think it has something to do with matrix sizes and linear algebra.