Fix non linear constant turn transition model #844
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| if turn_rate[0] == 0: | ||
| turn_rate = Matrix([np.finfo(float).eps]) |
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I think, like before, this should check the entire array and set any zero elements to eps.
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OK, I've reverted to the original code, but now with a check to ensure the Matrix is float before trying to fix zero elements.
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I found a few bugs in the
ConstantTurntransition model, which this PR aims to fix.Q_tdid not match the implementation.Q_tarray was erroneously divided by the change in time, which would result in the noise of the turn rate being smaller for a larger change in time. I'm not really sure personally why this value is not instead multiplied by dt, but this seems to be a misunderstanding on my part and not a mistake.I have also raised up a misbehaving comma in the first tutorial as it looked slightly messy.