- There are two functioning
main.cpp
versions,main.cpp.default
andmain.cpp.test
- Currently,
main.cpp
is equal tomain.cpp.default
and contains the code to run the filter on a given dataset. - The
main.cpp.test
version contains a set of test cases to verify the individual steps of the pipeline. This is based on the test data that was used in class for the programming assignments. - For running
main.cpp.test
, public access has to be granted to all methods inukf.h
, by simply commenting out line 119.
0.0621695
0.0829473
0.324728
0.21989
- 2% of the laser measurements had a higher NIS than 6
- 4.8% of the radar measurements had a higher NIS than 7.8
- Process noise standard deviation longitudinal acceleration: 0.6 m/s^2
- Process noise standard deviation yaw acceleration: 0.5 rad/s^2: