Feature/gauss markov refactor #862
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Natsoulas
added
documentation
Natsoulas
force-pushed
the
feature/gauss-markov-refactor
branch
6 times, most recently
from
6ad08e6 to
537d86d
Compare
Natsoulas
force-pushed
the
feature/gauss-markov-refactor
branch
from
537d86d to
eee4f7a
Compare
Natsoulas
force-pushed
the
feature/gauss-markov-refactor
branch
from
eee4f7a to
551cb71
Compare
schaubh
requested changes
Dec 5, 2024
src/architecture/utilitiesSelfCheck/_Documentation/gaussMarkov/secModelDescription.tex
Show resolved
Hide resolved
src/architecture/utilitiesSelfCheck/_Documentation/gaussMarkov/secModelFunctions.tex
Show resolved
Hide resolved
Natsoulas
force-pushed
the
feature/gauss-markov-refactor
branch
3 times, most recently
from
269307b to
fdf76b6
Compare
Natsoulas
force-pushed
the
feature/gauss-markov-refactor
branch
from
fdf76b6 to
af24174
Compare
schaubh
approved these changes
Dec 6, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
The GaussMarkov class is rewritten in this PR to provide readable syntax, random walk bounds enforcement, and a resolution to the previously required 1.5x multiplier on process noise standard deviation. All downstream instantiations of the GaussMarkov class in sensors are updated accordingly. More precisely, the 1.5x multiplier is removed and bounds are actually implemented. Finally, this PR introduces a new scenario that serves as both an example of the functionality of GaussMarkov for noise modeling as well as a proof of such functionality.
Verification
Relevant automated unit tests were edited to not use a 1.5x multiplier and to have relaxed tolerances such that bounded-random walk functionality is actually tested. The new scenario introduced also has its own automated unit test that generates an image showcasing GaussMarkov behavior.
Documentation
The documentation prescribing the 1.5x multiplier for the GaussMarkov noise std is invalidated by this pr. The reviewer should ensure the assignee edited any documentation of the 1.5x multiplier such that this prescription is removed as it is deprecated in this pr.
Future work
Resolve any concerns or raised issues of developers using the newly updated Gauss Markov class.