src/ukf.cpp
UKF::UKF() {

  // if this is false, laser measurements will be ignored (except during init)
  use_laser_ = true;

  // if this is false, radar measurements will be ignored (except during init)
  use_radar_ = true;

  // initial state vector
  x_ = VectorXd(5);

  // initial covariance matrix
  P_ = MatrixXd(5, 5);

  // Process noise standard deviation longitudinal acceleration in m/s^2
  std_a_ = 2.1;

  // Process noise standard deviation yaw acceleration in rad/s^2
  std_yawdd_ = 0.275;
  
  //DO NOT MODIFY measurement noise values below these are provided by the sensor manufacturer.
  // Laser measurement noise standard deviation position1 in m
  std_laspx_ = 0.15;

  // Laser measurement noise standard deviation position2 in m
  std_laspy_ = 0.15;

  // Radar measurement noise standard deviation radius in m
  std_radr_ = 0.3;

  // Radar measurement noise standard deviation angle in rad
  std_radphi_ = 0.03;

  // Radar measurement noise standard deviation radius change in m/s
  std_radrd_ = 0.3;
  //DO NOT MODIFY measurement noise values above these are provided by the sensor manufacturer.

  /* Completing the initialization. */
  is_initialized_ = false;
  time_us_ = 0;

  // number of things
  n_x_ = 5;
  n_aug_ = n_x_ + 2;
  lambda_ = 3 - n_aug_;
  n_sigma_ = 2 * n_aug_ + 1;

  // initializing (helper) vectors and matrices
  Xsig_pred_ = MatrixXd(n_x_, n_sigma_);
  Xsig_pred_.fill(0.0);

  x_.fill(0.0);
  P_.fill(0.0);

  // initializing weights
  weights_ = VectorXd(n_sigma_);
  weights_.fill(0.0);

  const double w_0 = lambda_ / (lambda_ + n_aug_);
  const double w_i = 0.5 / (lambda_ + n_aug_);

  weights_(0) = w_0;
  for ( int i = 1; i < n_sigma_; i++) {
    weights_(i) = w_i;
  }

  // controlling debug mode
  debug_mode_ = false;
}
/**
 * Initializes Unscented Kalman filter
 * This is scaffolding, do not modify
 */
Initializes Unscented Kalman filter
This is scaffolding, do not modify
Initializes Unscented Kalman filter This is scaffolding do not modify
UKF::UKF() {
  use_laser_ = true;
  use_radar_ = true;
  x_ = VectorXd(5);
  P_ = MatrixXd(5, 5);
  std_a_ = 2.1;
  std_yawdd_ = 0.275;
  std_laspx_ = 0.15;
  std_laspy_ = 0.15;
  std_radr_ = 0.3;
  std_radphi_ = 0.03;
  std_radrd_ = 0.3;
  is_initialized_ = false;
  time_us_ = 0;
  n_x_ = 5;
  n_aug_ = n_x_ + 2;
  lambda_ = 3 - n_aug_;
  n_sigma_ = 2 * n_aug_ + 1;
  Xsig_pred_ = MatrixXd(n_x_, n_sigma_);
  Xsig_pred_.fill(0.0);
  x_.fill(0.0);
  P_.fill(0.0);
  weights_ = VectorXd(n_sigma_);
  weights_.fill(0.0);
  const double w_0 = lambda_ / (lambda_ + n_aug_);
  const double w_i = 0.5 / (lambda_ + n_aug_);
  weights_(0) = w_0;
  for ( int i = 1; i < n_sigma_; i++) {
    weights_(i) = w_i;
  }
  debug_mode_ = false;
}
UKF :: UKF ( ) { use_laser_ = true ; use_radar_ = true ; x_ = VectorXd ( 5 ) ; P_ = MatrixXd ( 5 , 5 ) ; std_a_ = 2.1 ; std_yawdd_ = 0.275 ; std_laspx_ = 0.15 ; std_laspy_ = 0.15 ; std_radr_ = 0.3 ; std_radphi_ = 0.03 ; std_radrd_ = 0.3 ; is_initialized_ = false ; time_us_ = 0 ; n_x_ = 5 ; n_aug_ = n_x_ + 2 ; lambda_ = 3 - n_aug_ ; n_sigma_ = 2 * n_aug_ + 1 ; Xsig_pred_ = MatrixXd ( n_x_ , n_sigma_ ) ; Xsig_pred_ . fill ( 0.0 ) ; x_ . fill ( 0.0 ) ; P_ . fill ( 0.0 ) ; weights_ = VectorXd ( n_sigma_ ) ; weights_ . fill ( 0.0 ) ; const double w_0 = lambda_ / ( lambda_ + n_aug_ ) ; const double w_i = 0.5 / ( lambda_ + n_aug_ ) ; weights_ ( 0 ) = w_0 ; for ( int i = 1 ; i < n_sigma_ ; i ++ ) { weights_ ( i ) = w_i ; } debug_mode_ = false ; }
Initializes Unscented Kalman filter
 This is scaffolding, do not modify
Initializes Unscented Kalman filter This is scaffolding do not modify
// if this is false, laser measurements will be ignored (except during init) // if this is false, radar measurements will be ignored (except during init) // initial state vector // initial covariance matrix // Process noise standard deviation longitudinal acceleration in m/s^2 // Process noise standard deviation yaw acceleration in rad/s^2 //DO NOT MODIFY measurement noise values below these are provided by the sensor manufacturer. // Laser measurement noise standard deviation position1 in m // Laser measurement noise standard deviation position2 in m // Radar measurement noise standard deviation radius in m // Radar measurement noise standard deviation angle in rad // Radar measurement noise standard deviation radius change in m/s //DO NOT MODIFY measurement noise values above these are provided by the sensor manufacturer. /* Completing the initialization. */ // number of things // initializing (helper) vectors and matrices // initializing weights // controlling debug mode