Open
Conversation
Updating latest changes to main project
A holdover from when I messed up the original pull request. Cleaning up while I'm passing through...
Some were finding the Fi matrix multiplication confusion and not helpful in understanding the solution
The '2' version of the linearized measurement model was kept by accident when the two versions were merged. Cleaning up.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
I was speaking with a classmate this evening who was having problems understanding what was going on in the measurement linearization function. After an attempt to explain it using the magic of the Identity matrix, I realized the current solution was still overly complex.
This version gets rid of the intermediate Fi matrix and directly inserts the linearized measurements into an Ht of the correct size.
I also took the opportunity to get rid of the extra copy of range_bearing_meas... and the '2' that was hanging around in ekf_slam.m