| 627 | } |
| 628 | |
| 629 | void |
| 630 | Track3D::setVelocityInMotionTerm (bool velocity_in_motion_term, double acceleration_variance, double position_variance) |
| 631 | { |
| 632 | velocity_in_motion_term_ = velocity_in_motion_term; |
| 633 | |
| 634 | // Re-initialize Kalman filter |
| 635 | filter_->setPredictModel (acceleration_variance); |
| 636 | filter_->setObserveModel (position_variance); |
| 637 | double x, y, z; |
| 638 | filter_->getState(x, y, z); |
| 639 | filter_->init(x, y, z, distance_, velocity_in_motion_term_); |
| 640 | |
| 641 | *tmp_filter_ = *filter_; |
| 642 | } |
| 643 | |
| 644 | void |
| 645 | Track3D::setAccelerationVariance (double acceleration_variance) |
nothing calls this directly
no test coverage detected