| 618 | } |
| 619 | |
| 620 | void |
| 621 | Track::setVelocityInMotionTerm (bool velocity_in_motion_term, double acceleration_variance, double position_variance) |
| 622 | { |
| 623 | velocity_in_motion_term_ = velocity_in_motion_term; |
| 624 | |
| 625 | // Re-initialize Kalman filter |
| 626 | filter_->setPredictModel (acceleration_variance); |
| 627 | filter_->setObserveModel (position_variance); |
| 628 | double x, y; |
| 629 | filter_->getState(x, y); |
| 630 | filter_->init(x, y, distance_, velocity_in_motion_term_); |
| 631 | |
| 632 | *tmp_filter_ = *filter_; |
| 633 | } |
| 634 | |
| 635 | void |
| 636 | Track::setAccelerationVariance (double acceleration_variance) |
nothing calls this directly
no test coverage detected