From 871d5b3c9929690be35c4b61529037e1f4a684b0 Mon Sep 17 00:00:00 2001 From: Harald Schafer Date: Tue, 11 Feb 2020 17:41:02 -0800 Subject: [PATCH] IMPORTANT CHECK --- selfdrive/locationd/kalman/ekf_sym.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/locationd/kalman/ekf_sym.py b/selfdrive/locationd/kalman/ekf_sym.py index 7ca6f9ef6f..36d09cb86a 100644 --- a/selfdrive/locationd/kalman/ekf_sym.py +++ b/selfdrive/locationd/kalman/ekf_sym.py @@ -159,6 +159,7 @@ class EKF_sym(): self.dim_err = P_initial.shape[0] assert dim_main + dim_augment*N == self.dim_x assert dim_main_err + dim_augment_err*N == self.dim_err + assert Q.shape == P_initial.shape # kinds that should get mahalanobis distance # tested for outlier rejection