Add Kalman Filter #698
Add Kalman Filter #698
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WalkthroughThe changes across multiple files involve refactoring the way the Changes
Sequence Diagram(s)sequenceDiagram
participant User
participant BfgsMultilateralizer
participant Scenario
User->>BfgsMultilateralizer: Call Locate(scenario)
BfgsMultilateralizer->>Scenario: UpdateLocation(newLocation)
Scenario-->>BfgsMultilateralizer: Location updated
BfgsMultilateralizer-->>User: Locate complete
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Actionable comments posted: 0
Review details
Configuration used: CodeRabbit UI
Review profile: CHILL
Files selected for processing (7)
- src/Locators/BfgsMultilateralizer.cs (3 hunks)
- src/Locators/GaussNewtonMultilateralizer.cs (3 hunks)
- src/Locators/IterativeCentroidMultilateralizer.cs (2 hunks)
- src/Locators/MLEMultilateralizer.cs (3 hunks)
- src/Locators/MultiFloorMultilateralizer.cs (2 hunks)
- src/Locators/NelderMeadMultilateralizer.cs (3 hunks)
- src/Models/Scenario.cs (3 hunks)
Additional comments not posted (24)
src/Locators/MultiFloorMultilateralizer.cs (3)
64-64: LGTM! The change enhances encapsulation.Replacing the direct assignment of
scenario.Locationwith a call toscenario.UpdateLocationis a good practice. It encapsulates the logic for updating the location, allowing for additional logic or validation to be included in theUpdateLocationmethod.
76-76: LGTM! The change is consistent with the previous one.This change is similar to the one at line 64 and further reinforces the encapsulation of the location update logic.
83-83: LGTM! The change is consistent with the previous ones.This change is similar to the ones at lines 64 and 76. It ensures that the encapsulated location update logic is used even in the exception handling block.
src/Models/Scenario.cs (5)
5-5: LGTM!The code change is approved.
18-18: LGTM!The code change is approved. The private setter enhances encapsulation.
30-39: LGTM!The code changes are approved. The private fields and constants are necessary for the Kalman filter implementation.
45-78: LGTM!The code changes are approved. The
UpdateLocationmethod correctly implements the Kalman filter algorithm for location tracking. The method is well-structured, readable, and well-commented.
80-96: LGTM!The code changes are approved. The private methods
InitializeKalmanFilterandUpdateStateTransitionMatrixare necessary for the Kalman filter implementation. They correctly initialize the required matrices and update the state transition matrix based on the elapsed time. The code is readable and well-structured.Also applies to: 98-108
src/Locators/BfgsMultilateralizer.cs (3)
52-52: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the scenario's location.
80-80: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the scenario's location.
97-97: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the scenario's location.src/Locators/NelderMeadMultilateralizer.cs (4)
44-44: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the location of theScenarioobject.
76-76: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the location of theScenarioobject.
95-95: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the location of theScenarioobject.
100-100: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the location of theScenarioobject.src/Locators/IterativeCentroidMultilateralizer.cs (2)
52-52: LGTM!The code change is approved. Using the
UpdateLocationmethod to update theLocationproperty of theScenarioclass instead of direct assignment is a good practice to enhance encapsulation and maintainability.
68-68: LGTM!The code change is approved. It is consistent with the previous change and enhances encapsulation and maintainability by using the
UpdateLocationmethod to update theLocationproperty of theScenarioclass.src/Locators/MLEMultilateralizer.cs (4)
55-55: LGTM!The code change is approved. It enhances encapsulation by utilizing the
UpdateLocationmethod instead of directly assigning toscenario.Location.
87-87: LGTM!The code change is approved. It enhances encapsulation by utilizing the
UpdateLocationmethod instead of directly assigning toscenario.Location.
106-106: LGTM!The code change is approved. It enhances encapsulation by utilizing the
UpdateLocationmethod instead of directly assigning toscenario.Location.
111-111: LGTM!The code change is approved. It enhances encapsulation by utilizing the
UpdateLocationmethod instead of directly assigning toscenario.Location.src/Locators/GaussNewtonMultilateralizer.cs (3)
56-56: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the scenario's location, which is consistent with the overall refactoring approach.
70-70: LGTM!The code change is approved. It enhances encapsulation by using the
UpdateLocationmethod to update the scenario's location based on the Gauss-Newton optimization result, which is consistent with the overall refactoring approach.
84-84: LGTM!The code changes are approved. They enhance encapsulation by using the
UpdateLocationmethod to update the scenario's location within the error handling sections, which is consistent with the overall refactoring approach. The error handling logic remains the same, only the method of updating the location has changed.Also applies to: 89-89
Summary by CodeRabbit
New Features
Bug Fixes
Refactor