this causes weird problems

bongbui321 · May 17, 2020 · 9cfff6b · 9cfff6b
1 parent e50846d
commit 9cfff6b
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/rednose/helpers/ekf_sym.py b/rednose/helpers/ekf_sym.py
@@ -408,6 +408,10 @@ def _predict_and_update_batch(self, t, kind, z, R, extra_args, augment=False):
       R  (mat [n,dim_z, dim_z]): Measurement Noise
       extra_args    (list, [n]): Values used in H computations
     """
+    assert z.shape[0] == R.shape[0]
+    assert z.shape[1] == R.shape[1]
+    assert z.shape[1] == R.shape[2]
+
     # initialize time
     if self.filter_time is None:
       self.filter_time = t