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fix(ekf): plot_error in SLAM, against time, honouring bgcolor, with correct bounds - #749
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| Complexity | 17 |
| Duplication | 1 |
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…orrect bounds - the error subtracted the whole state vector from the 3-element true pose, which raised for SLAM where the state also holds the landmarks - the error was plotted against sample index on axes limited to time, so only the first part of the run was visible - bgcolor was documented but ignored (the polygon was always red) - the bounds used chi-squared with 2 degrees of freedom for a scalar error, so the shaded region was 2.45 sigma rather than the 1.96 sigma of a 95% interval - confidence=None computed chi2.ppf(None) and failed - raise a clear ValueError for a map-only filter, which has no pose estimate - document the ax parameter, fix a stray backtick Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
…d changelog The bounds were drawn at the radius of a two-dimensional confidence region, which is too wide for a scalar error; the figure in RVC3 (Fig 6.10) was made that way. Record the change, and that earlier plots differ, in a versionchanged note and in the changelog highlights. Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
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Codecov Report❌ Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #749 +/- ##
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Coverage 0.00% 0.00%
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Files 143 143
Lines 14271 14274 +3
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EKF.plot_error()had several defects:set_xlim(0, t[-1])), so only the first part of a run was visiblebgcolorwas documented but ignored; the polygon was always redversionchanged:: 1.4.5note in the docstring and in the changelog highlights, and the RVC3 errata will note itconfidence=Nonecomputedchi2.ppf(None)and failedValueErroraxparameter is now documented and a stray backtick is fixedSix tests are added (five fail without the fix) and the
expectedFailureon #747 is removed.Stacked on #747. Base this PR on
mainonce #747 has merged.🤖 Generated with Claude Code