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Change track stitching example initiator #804

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May 17, 2023
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Change track stitching example initiator #804

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7 changes: 3 additions & 4 deletions docs/examples/Track_Stitcher_Example.py
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Original file line number Diff line number Diff line change
Expand Up @@ -163,7 +163,7 @@
from stonesoup.deleter.error import CovarianceBasedDeleter
from stonesoup.deleter.multi import CompositeDeleter
from stonesoup.deleter.time import UpdateTimeStepsDeleter
from stonesoup.initiator.simple import MultiMeasurementInitiator
from stonesoup.initiator.simple import SimpleMeasurementInitiator
from stonesoup.types.groundtruth import GroundTruthPath, GroundTruthState
from stonesoup.types.state import GaussianState

Expand All @@ -173,11 +173,10 @@
hypothesiser = DistanceHypothesiser(predictor, updater, Mahalanobis(), missed_distance=30)
data_associator = GNNWith2DAssignment(hypothesiser)
deleter = CompositeDeleter([UpdateTimeStepsDeleter(50), CovarianceBasedDeleter(5000)])
initiator = MultiMeasurementInitiator(
initiator = SimpleMeasurementInitiator(
prior_state=GaussianState(np.zeros((2 * n_spacial_dimensions, 1), int),
np.diag([1, 0] * n_spacial_dimensions)),
measurement_model=measurement_model, deleter=deleter, data_associator=data_associator,
updater=updater, min_points=2)
measurement_model=measurement_model)
state_vector = [np.random.uniform(-range_value, range_value, 1),
np.random.uniform(-2, 2, 1)] * n_spacial_dimensions

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