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changed: cleanup in UnscentedKalmanFilter implementation - #489

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franckgaga merged 2 commits into
mainfrom
ukf_cleanup
Oct 26, 2026
Merged

franckgaga merged 2 commits into
mainfrom
ukf_cleanup

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@franckgaga

@franckgaga franckgaga commented Oct 26, 2026 •

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The implementation relies heavily on in-place computations to save allocations. An obvious side-effect is loosing on readability. I tried to modify it to ease readability and maintenance.

@franckgaga
franckgaga merged commit 6bb2a16 into main Oct 26, 2026
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@franckgaga
franckgaga deleted the ukf_cleanup branch October 26, 2026 16:34
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codecov-commenter commented Oct 26, 2026 •

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 94.88%. Comparing base (759708e) to head (8fe94ba).
⚠️ Report is 6 commits behind head on main.

Additional details and impacted files
@@            Coverage Diff             @@
##             main     #489      +/-   ##
==========================================
+ Coverage   94.80%   94.88%   +0.08%     
==========================================
  Files          28       28              
  Lines        6984     6986       +2     
==========================================
+ Hits         6621     6629       +8     
+ Misses        363      357       -6     
Flag Coverage Δ
unittests 94.88% <100.00%> (+0.08%) ⬆️

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2 participants