Fix reported entropy #408
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Fix reported entropy #408
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[147] PASSED on noeticAll tests passed |
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #408 +/- ##
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- Coverage 91.72% 91.71% -0.02%
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Files 30 30
Lines 1886 1883 -3
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- Hits 1730 1727 -3
Misses 156 156 ☔ View full report in Codecov by Sentry. |
at-wat
reviewed
Nov 14, 2023
[148] PASSED on noeticAll tests passed |
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With the current implementation on the
masterbranch, the entropy of the particle filter seems to be always calculated after resampling or resizing the number of particles which reset each particle probability to1 / num_particles. Thus the reported entropy is always the same. In this PR, this quantity is calculated in themeasurefunction to represent the entropy of the particle filter right after the particles probabilities are updated based on the measurement likelihood.