colinshaw / cpp-unscented-kalman-filters Goto Github PK

Hello @ColinShaw

I just noticed that in your file
https://github.com/ColinShaw/cpp-unscented-kalman-filters/blob/master/src/ukf.cpp

in your function void UKF::InitializeMeasurement()
in lines 119 - 123
you initialized the state as follows:

    x << rho * cos(phi),
         rho * sin(phi),
         rho_dot, 
         phi,
         0.0;

From what I've gathered, phi is not the same as yaw and rho_dot is not the same as v

https://discussions.udacity.com/t/mapping-from-radar-measurement-to-state-px-py-v-yaw-yaw-rate/237746