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SquareRootUnscentedKalmanFilter.hpp line 161 should be comment? #17

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zy041984 opened this issue Dec 15, 2017 · 2 comments
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SquareRootUnscentedKalmanFilter.hpp line 161 should be comment? #17

zy041984 opened this issue Dec 15, 2017 · 2 comments

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@zy041984
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Hi Markus, I have a small question.

In SquareRootUnscentedKalmanFilter.hpp function update(), whether function computeSigmaPoints() should be called here?
According to the paper, there's no need to compute x(k|k-1) here.
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@zy041984
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And also is UnscentedKalmanFilter.hpp function update(), which also call computeSigmaPoints()

mherb referenced this issue Dec 16, 2017
@mherb
Remove sigma point calc from UKF update (fixes #3)
7973005 
For the update step, the sigma points computed in the preceding prediction step are used and not re-calculated. Thanks to zy041984 for pointing this out!
@mherb
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mherb commented Dec 16, 2017 •
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Well spotted, thank you for pointing this out! I just pushed a quick-fix on master and will add a regression test for that on develop.

@mherb mherb closed this as completed Dec 16, 2017
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@mherb @zy041984