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Add SCGP measurement reliability weights#1976

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FlorianPfaff merged 1 commit intomainfrom
codex/scgp-measurement-reliability
May 6, 2026
Merged

Add SCGP measurement reliability weights#1976
FlorianPfaff merged 1 commit intomainfrom
codex/scgp-measurement-reliability

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@FlorianPfaff FlorianPfaff commented May 6, 2026

Summary

Adds additive per-measurement reliability support to FullSCGPTracker.update.

  • Adds optional measurement_weights and active_measurement_mask arguments.
  • Scales each active measurement covariance block as R_i / weight_i.
  • Skips masked measurements and zero-weight measurements.
  • Records last_measurement_weights and last_active_measurement_indices diagnostics.
  • Preserves the previous update behavior when weights and masks are omitted.

Validation

  • PYTHONPATH=src python -m pytest tests/filters/test_scgp_tracker.py
  • PYTHONPATH=src python -m pytest tests/filters/test_scgp_tracker.py tests/filters/test_ekf_spline_tracker.py tests/filters/test_gprhm_tracker.py tests/filters/test_fourier_rhm_tracker.py
  • PYTHONPATH=src python -m pytest (1406 passed, 12 skipped)

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github-actions Bot commented May 6, 2026

✅MegaLinter analysis: Success

Descriptor Linter Files Fixed Errors Warnings Elapsed time
✅ COPYPASTE jscpd yes no no 15.84s
✅ JSON prettier 2 0 0 0 0.47s
✅ JSON v8r 2 0 0 3.02s
✅ MARKDOWN markdownlint 28 0 0 0 1.39s
✅ MARKDOWN markdown-table-formatter 28 0 0 0 0.26s
✅ PYTHON bandit 488 0 0 7.68s
✅ PYTHON black 488 4 0 0 12.48s
✅ PYTHON flake8 488 0 0 4.36s
✅ PYTHON isort 488 5 0 0 0.92s
✅ PYTHON mypy 488 0 0 6.15s
✅ PYTHON pylint 488 0 0 106.9s
✅ PYTHON ruff 488 5 0 0 0.09s
✅ REPOSITORY checkov yes no no 22.65s
✅ REPOSITORY gitleaks yes no no 12.16s
✅ REPOSITORY git_diff yes no no 0.05s
✅ REPOSITORY secretlint yes no no 8.22s
✅ REPOSITORY syft yes no no 3.28s
✅ REPOSITORY trivy-sbom yes no no 3.77s
✅ REPOSITORY trufflehog yes no no 20.75s
✅ YAML prettier 5 0 0 0 0.52s
✅ YAML v8r 5 0 0 5.16s
✅ YAML yamllint 5 0 0 0.48s

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github-actions Bot commented May 6, 2026

Test Results

    12 files  ± 0      12 suites  ±0   2h 26m 6s ⏱️ + 9m 3s
 1 418 tests + 4   1 418 ✅ + 4      0 💤 ± 0  0 ❌ ±0 
17 476 runs  +48  13 796 ✅ +16  3 680 💤 +32  0 ❌ ±0 

Results for commit c8f8929. ± Comparison against base commit 58f6368.

@FlorianPfaff FlorianPfaff marked this pull request as ready for review May 6, 2026 17:04
@FlorianPfaff FlorianPfaff merged commit 988a641 into main May 6, 2026
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