src/ukf.cpp
/**
 * Predicts sigma points, the state, and the state covariance matrix.
 * @param {double} dt the change in time (in seconds) between the last
 * measurement and this one.
 */
Predicts sigma points, the state, and the state covariance matrix.
@param {double} dt the change in time (in seconds) between the last
measurement and this one.
Predicts sigma points the state and the state covariance matrix . @param { double } dt the change in time ( in seconds ) between the last measurement and this one .
MatrixXd UKF::Prediction(double dt) {
  const MatrixXd Xsig_aug = AugmentedSigmaPoints();
  const MatrixXd Xsig_pred = SigmaPointPrediction(dt, Xsig_aug);
  PredictMeanAndCovariance(Xsig_pred);
  return Xsig_pred;
}
MatrixXd UKF :: Prediction ( double dt ) { const MatrixXd Xsig_aug = AugmentedSigmaPoints ( ) ; const MatrixXd Xsig_pred = SigmaPointPrediction ( dt , Xsig_aug ) ; PredictMeanAndCovariance ( Xsig_pred ) ; return Xsig_pred ; }
Predicts sigma points, the state, and the state covariance matrix.
Predicts sigma points the state and the state covariance matrix .