JPDA and SystematicResampler Fixes (updated) #193
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sglvladi
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sdhiscocks
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Codecov Report
@@ Coverage Diff @@
## master #193 +/- ##
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Coverage 92.47% 92.48%
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Files 113 113
Lines 4027 4030 +3
Branches 576 577 +1
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+ Hits 3724 3727 +3
Misses 223 223
Partials 80 80
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sdhiscocks
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Apr 21, 2020
paulhorridge
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May 4, 2020
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@sglvladi - Could you please rebase this to drop the delete commits, and squash duplicate commits. |
Particles are sorted before calculating the cumulative sum array. Thus when particles are resampled, they are drawn from the ordered distribution, rather than randomly.
The prediction and measurement prediction were originally set for every hypothesis in the multihypothesis as for the missed detection state. This causes spurious results at the update step if the measurements in the multihypothesis are asynchronous (e.g. grouped by a time-windowing feeder class), and the sensor platform is moving. In this case, the updated state is calculated using the sensor's translation offset at the missed detection timestamp (i.e. the latest timestamp in the window), but for a position measurement taken at the measurement timestamp (which may be earlier in the window). This fix attaches the prediction/measurement prediction calculated for the measurement to the relevant SingleHypothesis, such that the update is calculated using the correct sensor offset for the measurement timestamp.
@sdhiscocks I've had a go at it. Let me know if there's anything else that needs doing. |
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Thanks @sglvladi |
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This PR supersedes #152. The following changes have been applied:
mastercommit.attrgetteris now used when sorting the weights inSystematicResamplerJPDA.