Fix predict covariance #973
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SLAM/EKFSLAM/ekf_slam.py
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| @@ -30,9 +30,9 @@ | |||
| def ekf_slam(xEst, PEst, u, z): | |||
| # Predict | |||
| S = STATE_SIZE | |||
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Certainly, S is used to denote the innovation covariance in the update step, so using STATE_SIZE in the predict step enhances code clarity.
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Als, is it possible the EKF SLAM doc too? https://github.com/AtsushiSakai/PythonRobotics/blob/master/docs/modules/slam/ekf_slam/ekf_slam_main.rst |
Done. I have also removed all the trailing white space. |
SLAM/EKFSLAM/ekf_slam.py
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| @@ -197,7 +196,7 @@ def pi_2_pi(angle): | |||
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| def main(): | |||
| print(__file__ + " start!!") | |||
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Why did you remove the file name?
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Reference issue
Fix #972
What does this implement/fix?
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