Feature/kalman - #101

Merged

energy-in-joles merged 110 commits into

mainfrom

Feb 21, 2026

Commits on Nov 12, 2025

Added extracted vision data with varying degrees of vanishing and noise
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25b932f

Commits on Nov 16, 2025

Merge remote-tracking branch 'origin' into position_filtering_2, pulling in changes made to position refiners
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acda222
Attempt to store past raw game frames; starting work on test cases
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35147f1

Commits on Nov 18, 2025

added Andrew's filter
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25875d3
Integrated filters into position refiner
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058cda2
bad example test
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750c925

Commits on Nov 19, 2025

Commits on Nov 25, 2025

Refinements to filters based on empirical data
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5428838

Commits on Nov 29, 2025

Added some references for building tests
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756809b

Commits on Nov 30, 2025

First pass unit tests
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b0650d0
Some issues with unit tests. Working on fix
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62a633d

Commits on Dec 8, 2025

Commented out utilities for testing and exporting data
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870f59e
Merge branch 'main' into position_filtering_2 in preparation for pull request
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e84df4a
Completed merge with main
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8d80265

Commits on Dec 13, 2025

Commits on Dec 25, 2025

Fixed issues, now imputes correctly based on last gameframe
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0edd594

Commits on Dec 26, 2025

Completed work on vanishing
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a49ffe0
Incorporated some suggestions from copilot regardign style
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c2666d2

Commits on Jan 7, 2026

Addressed comments on PR
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3ab1afe

Commits on Jan 8, 2026

Commits on Jan 10, 2026

Merge branch 'position_filtering_2' into feature/vanishing
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a5e6857

Commits on Jan 11, 2026

Commits on Jan 14, 2026

Working on analytics
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3442897
Merged changes in main
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4ca306d

Commits on Jan 16, 2026

Commits on Jan 18, 2026

Cleaned up implementation, removed hackish alternative
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f02ab75
Working on adding noise to each component independently
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2ad4607
Completed implementation of noise addition
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1263afe
Addressed comments on PR, got orientation to work
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06df77e
Merge branch 'feature/rsim_noise' into feature/kalman
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92c4d01
Performed benchmarking on kalman filters
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6f12f5a
Performed benchmarking on kalman filters
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525c374
More benchmarking
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ed6f9d6
Kalman filter performance validated
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05f47b0

Commits on Jan 21, 2026

Kalman filters now handle vanishing
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a0fbf63

Commits on Jan 24, 2026

Removed non-performing implementations
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4f1f0b8

Commits on Jan 25, 2026

Rejigged analytics for Kalman filter
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4582cb3

Commits on Jan 30, 2026

Commits on Jan 31, 2026

Added filter for ball, added support for orientation
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7cf76a4
Now able to run analytics for orientation
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6b6c985
Moved utility functions for adding Gaussian noise from classes representing balls/robots to the SSLStdenv class. Learned about this best practice in this week's lecture
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187cc3a
Merge branch 'feature/rsim_noise' into feature/kalman
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1faf53b
Turned off a flag used for testing
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0218374
Minor bug fix
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3dfa31d
Analysing data for orientation, plus some minor fixes
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275b043
Completed work with Kalman filters, will now work on PR
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284efc5
Removed some redundant files
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cd9c4a3
Renamed folder to ease merging with testing
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bb4197c
Renamed folder to ease merging with testing
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0b4115e
Cleanup, getting ready for PR
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39ecef5
Merge branch 'feature/rsim_noise' into feature/kalman
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15d0255
Small fix to satisfy linter
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80ccdf5
Final cleanup after reviewing PR diff
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92fb56c
Improved filter docs
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0cc6c8a

Commits on Feb 21, 2026

Merge branch 'main' into feature/kalman
energy-in-joles
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806d407
add docstring to math_utils.py
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475d048
remove unused get_displacement_vector
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63ead0b
remove unused import
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a0749ec
[chore] formatting
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f2867dd
chore: formatting
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ab8f062
fix matrix inversion numerical instability and formatting of class name
energy-in-joles
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35bbc12
remove improper static method use
energy-in-joles
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5c2cafa
improper use of tuple[float] type hint and mix bug referencing self.covariance_mat_xy instead of self.covariance_mat in KalmanFilterBall
energy-in-joles
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b653b54
removed references of .cmd_map not used position.py
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c4a384c
fix test failure
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623de32
Made non-global constant variable lower-cased
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3879da7
Using matrix transpose attribute instead of function call
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3c57fa8
update test cases
energy-in-joles
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e52fb42
Merge branch 'feature/kalman' of https://github.com/First-Order-RoboCup-SSL/Utama-Core into feature/kalman
energy-in-joles
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627e0f0
Removed redundant last_game_frame attribute
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7b6121a
separate my and opp refiners
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55780aa
Merge branch 'feature/kalman' of https://github.com/First-Order-RoboCup-SSL/Utama-Core into feature/kalman
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00cc4d1
update running attribute for opposite refiner too
energy-in-joles
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2a58afb
Minor formatting and naming changes to Kalman filter
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4ed1f05
fix incorrect assumption about robot id numbering in position refiner tests
energy-in-joles
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9968582
corrected direct imputation of None values into vision data. Fix bug causing test fail
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47768e9
improve reset functionaity of position refiner
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48ef0ef
Fixed bugs introduced when removing assumption about numbering
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4e845c5
fix dictionary logic in position refiner
energy-in-joles
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868cccd
update optional typing for KalmanFilterBall filter
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e4526ad
fix typing in KalmanFilterBall
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a74e011
fix point cycle strat
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f39fa93
Merged changes
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5fd5bb1
Merge branch 'feature/kalman' of github.com:First-Order-RoboCup-SSL/Utama-Core into feature/kalman
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02120cb
Fixed issues in test due to filters no longer having ids, and now taking Robot instead of Dict[Int, Robot]
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359107b
Kalman filter now has id attribute
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da01683
label vision data using kalman id instead of last frame id
energy-in-joles
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330e13a
add comment about treating substitution as vanishing
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2b7976a
remove unncessary imports
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bd6171b
add authors
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