fix(autoware_multi_object_tracker): update yaw with range-limited inn…

…ovation (autowarefoundation#8976) fix: update yaw with range-limited innovation Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
1222-takeshi · Sep 27, 2024 · 82b286c · 82b286c
1 parent 9c7d542
commit 82b286c
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diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/bicycle_motion_model.cpp
@@ -231,7 +231,7 @@ bool BicycleMotionModel::updateStatePoseHeadVel(
 
   // update state
   Eigen::MatrixXd Y(DIM_Y, 1);
-  Y << x, y, yaw, vel;
+  Y << x, y, fixed_yaw, vel;
 
   Eigen::MatrixXd C = Eigen::MatrixXd::Zero(DIM_Y, DIM);
   C(0, IDX::X) = 1.0;

diff --git a/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp b/perception/autoware_multi_object_tracker/lib/tracker/motion_model/ctrv_motion_model.cpp
@@ -194,7 +194,7 @@ bool CTRVMotionModel::updateStatePoseHeadVel(
 
   // update state
   Eigen::MatrixXd Y(DIM_Y, 1);
-  Y << x, y, yaw, vel;
+  Y << x, y, fixed_yaw, vel;
 
   Eigen::MatrixXd C = Eigen::MatrixXd::Zero(DIM_Y, DIM);
   C(0, IDX::X) = 1.0;