mcarilli / carnd-extended-kalman-filter Goto Github PK
View Code? Open in Web Editor NEWUdacity self-driving car nanodegree Term 2 Project 1: Extended Kalman Filter in C++.
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carnd-extended-kalman-filter's Issues
missing rho_dot in intialization scope
in FusionEKF.cpp file
<
VectorXd x(4);
if( measurement_pack.sensor_type_ == MeasurementPackage::RADAR )
{
// Convert radar from polar to cartesian coordinates and initialize state.
float rho = measurement_pack.raw_measurements_[0];
float phi = measurement_pack.raw_measurements_[1];
x << rho*cos(phi), rho*sin(phi), 0.f, 0.f;
#>
why not git the value of rho_dot for RADAR to be
float rho_dot = measurement_pack.raw_measurements_[2];
then x << rhocos(phi), rhosin(phi), rho_dotcos(phi), rho_dotsin(phi);
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