Update car_kf.py

old-commit-hash: a3071bf15b
commatwo_master
HaraldSchafer 4 years ago committed by GitHub
parent abffb4db29
commit eff53180ca
  1. 3
      selfdrive/locationd/models/car_kf.py

@ -87,6 +87,9 @@ class CarKalman(KalmanFilter):
def generate_code(generated_dir):
dim_state = CarKalman.initial_x.shape[0]
name = CarKalman.name
# vehicle models comes from The Science of Vehicle Dynamics: Handling, Braking, and Ride of Road and Race Cars
# Model used is in 6.15 with formula from 6.198
# globals
global_vars = [sp.Symbol(name) for name in CarKalman.global_vars]

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