State Estimator: x0 as uncertain data

[lawrence-hwang]

No description provided.

[codecov-commenter]

Codecov Report

Merging #138 (d94d4ad) into dev (ceb53e1) will decrease coverage by 0.96%.
The diff coverage is 97.82%.

❗ Current head d94d4ad differs from pull request most recent head e5c171e. Consider uploading reports for the commit e5c171e to get more accurate results

@@            Coverage Diff             @@
##              dev     #138      +/-   ##
==========================================
- Coverage   89.52%   88.55%   -0.97%     
==========================================
  Files          52       50       -2     
  Lines        2901     2491     -410     
==========================================
- Hits         2597     2206     -391     
+ Misses        304      285      -19     

Impacted Files	Coverage Δ
...g_algs/state_estimators/unscented_kalman_filter.py	98.33% <92.30%> (-1.67%)	⬇️
src/prog_algs/state_estimators/kalman_filter.py	95.08% <93.33%> (-0.92%)	⬇️
src/prog_algs/state_estimators/particle_filter.py	95.23% <94.11%> (+1.81%)	⬆️
src/prog_algs/uncertain_data/scalar_data.py	92.59% <100.00%> (-1.96%)	⬇️
src/prog_algs/uncertain_data/uncertain_data.py	100.00% <100.00%> (ø)
tests/test_state_estimators.py	93.77% <100.00%> (+2.91%)	⬆️
tests/test_uncertain_data.py	88.76% <0.00%> (-5.21%)	⬇️
src/prog_algs/uncertain_data/unweighted_samples.py	87.17% <0.00%> (-4.05%)	⬇️
src/prog_algs/metrics/samples.py	80.00% <0.00%> (-3.34%)	⬇️
...og_algs/uncertain_data/multivariate_normal_dist.py	93.10% <0.00%> (-3.13%)	⬇️
... and 15 more

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[lawrence-hwang]

mapping = {i: list(x0.keys()).index(key) for i, key in enumerate(model.states)}
cov = x0.cov  # In case it's calculated
mapped_cov = [
  [
    cov[mapping[i]][mapping[j]] for j in range(len(cov))
  ] for i in range(len(cov))
]