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ekf2_derivation: fix typo

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bresch 2023-08-07 15:36:33 +02:00 committed by Daniel Agar
parent de702a2e63
commit b6fb95247b
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
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@ -117,8 +117,8 @@ def predict_covariance(
var_u = sf.Matrix.diag([d_vel_var[0], d_vel_var[1], d_vel_var[2], d_ang_var, d_ang_var, d_ang_var])
P_new = A * P * A.T + G * var_u * G.T
# Generate the equations for the lower triangular matrix and the diagonal only
# Since the matrix is symmetric, the upper triangle does not need to be derived
# Generate the equations for the upper triangular matrix and the diagonal only
# Since the matrix is symmetric, the lower triangle does not need to be derived
# and can simply be copied in the implementation
for index in range(State.n_states):
for j in range(State.n_states):