Fixes unmatching dimension in correct step sigma update

leocencetti · Feb 2, 2021 · 13dbcce · 13dbcce
1 parent db89d7d
commit 13dbcce
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/_ukf.py b/src/_ukf.py
@@ -165,7 +165,7 @@ def _correct(self, predicted_state_mean: np.ndarray, predicted_state_covariance:
         output_sigma_points = np.zeros((self._output_dimension, self._sigma_dimension))
 
         for ii in range(self._sigma_dimension):
-            output_sigma_points[:, ii] = self._output_transition(next_sigma_points[:, ii]).squeeze()
+            output_sigma_points[:, ii] = self._output_transition(next_sigma_points[:, ii, None]).squeeze()
 
         output_mean = output_sigma_points @ self._m_weights