Kalman Predict 2D

Problem

Run the 2D predict step of a Kalman tracker.

State and velocity are [x, y] and [vx, vy]; covariance is [px, py]. Return [x + vx, y + vy, px + q, py + q] rounded to 4 decimal places.

case 1

in: [[0,0],[1,2],[1,1],0.5]

expected: [1,2,1.5,1.5]

case 2

in: [[5,-1],[0,0],[2,3],1]

expected: [5,-1,3,4]

case 3

in: [[1.5,2.5],[0.5,-0.5],[0.25,0.75],0.25]

expected: [2,2,0.5,1]

Starter codePython

def kalman_predict_2d(state, velocity, cov, q):
    # Your code here
    pass

3 test cases · run your code against them in the editor