Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

chore: Improved debugging outputs for GainMatrixSmoother #3077

Merged
merged 3 commits into from
Apr 4, 2024
Merged

chore: Improved debugging outputs for GainMatrixSmoother #3077

Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
7d51d34
improved debugging outputs for GainMatrixSmoother
andiwand Apr 4, 2024
2bfd10d
use verbose log
andiwand Apr 4, 2024
a97650a
Merge branch 'main' into chore-gain-matrix-smoother-debugging-outputs
kodiakhq[bot] Apr 4, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
12 changes: 10 additions & 2 deletions Core/src/TrackFitting/GainMatrixSmoother.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,8 +35,16 @@ Result<void> GainMatrixSmoother::calculate(
predictedCovariance(prev_ts).inverse();

if (G.hasNaN()) {
// error = KalmanFitterError::SmoothFailed; // set to error
// return false; // abort execution
ACTS_VERBOSE("Gain smoothing matrix G has NaNs");

ACTS_VERBOSE("Filtered covariance:\n" << filteredCovariance(ts));
ACTS_VERBOSE("Jacobian:\n" << jacobian(prev_ts));
ACTS_VERBOSE("Predicted covariance:\n" << predictedCovariance(prev_ts));
ACTS_VERBOSE("Inverse of predicted covariance:\n"
<< predictedCovariance(prev_ts).inverse());

ACTS_VERBOSE("Gain smoothing matrix G:\n" << G);

return KalmanFitterError::SmoothFailed;
}

Expand Down
Loading