src/ukf.cpp
/**
 * 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_ = 0.2; 
  std_yawdd_ = 0.2; 
  std_laspx_ = 0.15;
  std_laspy_ = 0.15;
  std_radr_ = 0.3;
  std_radphi_ = 0.03;
  std_radrd_ = 0.3;
  time_us_ = 0;
  n_x_ = 5;
  n_aug_ = 7;
  lambda_ = 3 + n_x_;
  radar_nis_ = 0;
  lidar_nis_ = 0;
  Xsig_pred_ = MatrixXd(n_x_, 2 * n_aug_ + 1);
  weights_ = VectorXd(2 * n_aug_ + 1);
  is_initialized_ = false;
}
UKF :: UKF ( ) { use_laser_ = true ; use_radar_ = true ; x_ = VectorXd ( 5 ) ; P_ = MatrixXd ( 5 , 5 ) ; std_a_ = 0.2 ; std_yawdd_ = 0.2 ; std_laspx_ = 0.15 ; std_laspy_ = 0.15 ; std_radr_ = 0.3 ; std_radphi_ = 0.03 ; std_radrd_ = 0.3 ; time_us_ = 0 ; n_x_ = 5 ; n_aug_ = 7 ; lambda_ = 3 + n_x_ ; radar_nis_ = 0 ; lidar_nis_ = 0 ; Xsig_pred_ = MatrixXd ( n_x_ , 2 * n_aug_ + 1 ) ; weights_ = VectorXd ( 2 * n_aug_ + 1 ) ; is_initialized_ = 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 // 30; // Process noise standard deviation yaw acceleration in rad/s^2 // 30; //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. /**
  TODO:

  Complete the initialization. See ukf.h for other member properties.

  Hint: one or more values initialized above might be wildly off...
  */