[codex] Add MEM-SOEKF tracker#1858
Merged
FlorianPfaff merged 4 commits intocodex/add-mem-ekf-star-trackerfrom Apr 25, 2026
Merged
[codex] Add MEM-SOEKF tracker#1858FlorianPfaff merged 4 commits intocodex/add-mem-ekf-star-trackerfrom
FlorianPfaff merged 4 commits intocodex/add-mem-ekf-star-trackerfrom
Conversation
FlorianPfaff
added a commit
that referenced
this pull request
Apr 25, 2026
* Add MEM-EKF star tracker * Export MEM-EKF star tracker * Test MEM-EKF star tracker * [codex] Add MEM-SOEKF tracker (#1858) * Add MEM-SOEKF tracker * Export MEM-SOEKF tracker * Test MEM-SOEKF tracker * Format MEM-SOEKF tracker
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Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be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.
Summary
MEMSOEKFTrackerwith the second-order pseudo-measurement[dx, dy, dx^2, dx * dy, dy^2]on top of the existing MEM-EKF state layout.trace, and keep the SOEKF shape-moment Jacobian/Hessian terms explicit instead of copying symbolic reference code.MEMSOEKFTracker/MemSoekfTrackerand add focused unit tests for ordering, curvature terms, and update behavior.Validation
codex/add-mem-ekf-star-tracker.