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_ = 0.6;
  std_yawdd_ = 0.6;
  std_laspx_ = 0.15;
  std_laspy_ = 0.15;
  std_radr_ = 0.3;
  std_radphi_ = 0.03;
  std_radrd_ = 0.3;
  is_initialized_ = false;
  n_x_ = 5;
   + noise vector [std_a_, std_yawdd_]
  n_aug_ = 7;
  lambda_ = max(3 - n_x_, 0);
  Xsig_pred_ = MatrixXd(n_x_,2*n_aug_+1);
  weights_ = VectorXd(2*n_aug_+1);
  double weight_0 = lambda_ / (lambda_+n_aug_);	
  weights_(0) = weight_0;
  for (int i=1; i < 2*n_aug_+1; ++i) {
	double weight_i = 0.5 / (lambda_ + n_aug_);
	weights_(i) = weight_i;
  }
  r_nis_ = VectorXd(5);
  r_nis_.fill(0.0);
  l_nis_ = VectorXd(5);
  l_nis_.fill(0.0);
}
UKF :: UKF ( ) { use_laser_ = true ; use_radar_ = true ; x_ = VectorXd ( 5 ) ; P_ = MatrixXd ( 5 , 5 ) ; std_a_ = 0.6 ; std_yawdd_ = 0.6 ; std_laspx_ = 0.15 ; std_laspy_ = 0.15 ; std_radr_ = 0.3 ; std_radphi_ = 0.03 ; std_radrd_ = 0.3 ; is_initialized_ = false ; n_x_ = 5 ; n_aug_ = 7 ; lambda_ = max ( 3 - n_x_ , 0 ) ; Xsig_pred_ = MatrixXd ( n_x_ , 2 * n_aug_ + 1 ) ; weights_ = VectorXd ( 2 * n_aug_ + 1 ) ; double weight_0 = lambda_ / ( lambda_ + n_aug_ ) ; weights_ ( 0 ) = weight_0 ; for ( int i = 1 ; i < 2 * n_aug_ + 1 ; ++ i ) { double weight_i = 0.5 / ( lambda_ + n_aug_ ) ; weights_ ( i ) = weight_i ; } r_nis_ = VectorXd ( 5 ) ; r_nis_ . fill ( 0.0 ) ; l_nis_ = VectorXd ( 5 ) ; l_nis_ . fill ( 0.0 ) ; }
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. /**
  TODO:

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

  Hint: one or more values initialized above might be wildly off...
  */ // set init to true after first measurement // num state dimensions // num state dimensions + noise vector [std_a_, std_yawdd_] // lambda value //lambda_ = 3 - n_aug_; // set Xsig_pred matrix size // initialize weights // vectors to save NIS values