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Add optional return control to predict_and_update_batch via return_result Parameter #48

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Add optional return control to predict_and_update_batch via return_result Parameter #48

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4 changes: 2 additions & 2 deletions rednose/helpers/ekf_sym_pyx.pyx
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ cdef class EKF_sym_pyx:
def predict(self, double t):
self.ekf.predict(t)

def predict_and_update_batch(self, double t, int kind, z, R, extra_args=[[]], bool augment=False):
def predict_and_update_batch(self, double t, int kind, z, R, extra_args=[[]], bool augment=False, bool return_result=False):
cdef vector[MapVectorXd] z_map
cdef np.ndarray[np.float64_t, ndim=1, mode='c'] zi_b
for zi in z:
Expand All @@ -163,7 +163,7 @@ cdef class EKF_sym_pyx:
extra_args_map.push_back(args_map)

cdef optional[Estimate] res = self.ekf.predict_and_update_batch(t, kind, z_map, R_map, extra_args_map, augment)
if not res.has_value():
if not return_result or not res.has_value():
return None

cdef VectorXd tmpvec
Expand Down