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fix(radar_object_tracker): fix spell check #6422

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merged 1 commit into from
Feb 15, 2024
Merged

fix(radar_object_tracker): fix spell check #6422

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18 changes: 9 additions & 9 deletions perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -387,11 +387,11 @@
const bool enable_yaw_measurement = trust_yaw_input_ && object_has_orientation;

if (enable_yaw_measurement) {
Eigen::MatrixXd Cyaw = Eigen::MatrixXd::Zero(1, ekf_params_.dim_x);
Cyaw(0, IDX::YAW) = 1;
C_list.push_back(Cyaw);
Eigen::MatrixXd C_yaw = Eigen::MatrixXd::Zero(1, ekf_params_.dim_x);
C_yaw(0, IDX::YAW) = 1;
C_list.push_back(C_yaw);

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perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp#L390-L392 

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Eigen::MatrixXd Yyaw = Eigen::MatrixXd::Zero(1, 1);
Eigen::MatrixXd Y_yaw = Eigen::MatrixXd::Zero(1, 1);

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perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp#L394 

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const auto yaw = [&] {
auto obj_yaw = tier4_autoware_utils::normalizeRadian(
tf2::getYaw(object.kinematics.pose_with_covariance.pose.orientation));
Expand All @@ -404,12 +404,12 @@
return obj_yaw;
}();

Yyaw << yaw;
Y_list.push_back(Yyaw);
Y_yaw << yaw;
Y_list.push_back(Y_yaw);

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Eigen::MatrixXd Ryaw = Eigen::MatrixXd::Zero(1, 1);
Ryaw << ekf_params_.r_cov_yaw;
R_block_list.push_back(Ryaw);
Eigen::MatrixXd R_yaw = Eigen::MatrixXd::Zero(1, 1);

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R_yaw << ekf_params_.r_cov_yaw;
R_block_list.push_back(R_yaw);

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perception/radar_object_tracker/src/tracker/model/constant_turn_rate_motion_tracker.cpp#L412 

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}

// 3. add linear velocity measurement
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