From cb1de435878335d35e90af32292110109680e5f9 Mon Sep 17 00:00:00 2001 From: Liam Date: Sun, 23 Jul 2017 14:35:26 -0400 Subject: [PATCH] clearer wording --- ukf.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ukf.py b/ukf.py index 19b454f..a222c15 100644 --- a/ukf.py +++ b/ukf.py @@ -69,8 +69,8 @@ def predict(self, delta_t): px, py, v, yaw, yawd, nu_a, nu_yawdd = X_sigma_aug[:, col] # predicted state values for CTRV motion model - # division by zero or very small value implies a nearly straight line, - # so degenerate to simpler CV motion model when yawd is sufficiently small + # if yawd is a very small value, it implies a nearly straight line, + # so degenerate to simpler CV motion model in that case if abs(yawd) > 0.001: px_p = px + v / yawd * (np.sin(yaw + yawd * delta_t) - np.sin(yaw)) py_p = py + v / yawd * (np.cos(yaw) - np.cos(yaw + yawd * delta_t))