[codex] Add MEM-EKF* tracker#1853
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FlorianPfaff merged 4 commits intocodex/add-mem-ekf-trackerfrom Apr 25, 2026
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* Add MEM-SOEKF tracker * Export MEM-SOEKF tracker * Test MEM-SOEKF tracker * Format MEM-SOEKF tracker
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Summary
Adds a stacked MEM-EKF* tracker on top of the MEM-EKF implementation in #1850. The new tracker reuses the MEM-EKF state representation and prediction API, while overriding the measurement update with the MEM-EKF* moment approximation.
The MEM-EKF* update adds the shape-uncertainty covariance term
C_II, uses the[dx^2, dy^2, dx * dy]pseudo-measurement ordering, and uses the centered covariance of that pseudo-measurement.Tests
Added focused tests for export aliases, the shape-uncertainty covariance term, MEM-EKF* pseudo-Jacobian ordering, centered pseudo-measurement covariance, update behavior, and alternate measurement layout handling.
Local execution was not available in this read-only workspace, so validation is via GitHub Actions for this PR.