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Check if the result of Kalman update is OK #741

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merged 2 commits into from
Oct 16, 2024

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beomki-yeo
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@beomki-yeo beomki-yeo commented Oct 16, 2024

In this PR, Kalman update fail when the $\theta$ is out of bound $[0, \pi]$ and $\phi$ is not a finite value. This only happens for FP32

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@krasznaa krasznaa left a comment

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As much as I can tell, this looks reasonable. 🤔

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beomki-yeo commented Oct 16, 2024

Hmm, I think I will add the same check in the smoother for potential risk (probably in other PR)

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@beomki-yeo beomki-yeo merged commit 1aa45cb into acts-project:main Oct 16, 2024
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