public ConstantVelocity2DModel GetNoisyState(double accelerationNoise)
{
var processNoiseMat = ConstantVelocity2DModel.GetProcessNoise(accelerationNoise);
var noise = normalDistribution.Generate(ConstantVelocity2DModel.Dimension).Multiply(processNoiseMat);
return(new ConstantVelocity2DModel
{
Position = new PointF
{
X = currentState.Position.X + (float)noise[0],
Y = currentState.Position.Y + (float)noise[2]
},
Velocity = new PointF
{
X = currentState.Velocity.X + (float)noise[1],
Y = currentState.Velocity.Y + (float)noise[3]
}
});
}
