From 05f3b96338e3f0a5c9fea8a4fffd690479fbf701 Mon Sep 17 00:00:00 2001
From: Aniol Garcia <aniolgarcia@gmail.com>
Date: Wed, 9 Oct 2019 19:26:44 +0200
Subject: [PATCH] Fixing some matrix dimension tests
---
src/kalman_cpp.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/kalman_cpp.cpp b/src/kalman_cpp.cpp
index 86770b9..0501e02 100644
--- a/src/kalman_cpp.cpp
+++ b/src/kalman_cpp.cpp
@@ -81,7 +81,7 @@ void CKalman_Cpp::set_control_input_matrix(const Eigen::MatrixXd &B)
void CKalman_Cpp::set_measurement_matrix(const Eigen::MatrixXd &H)
{
- if(H.cols() == this->dimension && H.rows() == this->dimension)
+ if(H.cols() == this->dimension && H.rows() == this->observation_dimension)
{
this->H = H;
}
@@ -105,7 +105,7 @@ void CKalman_Cpp::set_process_noise_matrix(const Eigen::MatrixXd &Q)
void CKalman_Cpp::set_measurement_noise_matrix(const Eigen::MatrixXd &R)
{
- if(R.cols() == this->dimension &&R.rows() == this->dimension)
+ if(R.cols() == this->observation_dimension &&R.rows() == this->observation_dimension)
{
this-> R = R;
}
--
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