ref: Move the full jacobian and bound track parameters to the parameter_transporter and merge it with the parameter_resetter #880
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…orter and merge the actors that modify the bound track parameters
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| /// Full jacobian | ||
| bound_matrix_type m_full_jacobian = | ||
| matrix_operator().template identity<e_bound_size, e_bound_size>(); |
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I think we don't have to initialize this as the identity matrix if the compiler says OK
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I just moved this line over from the stepper, will update
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Move the data to the actor that updates them, to pool the update functionality with the corresponding data in a single place.
It is currently possible to call an actor like the
pointwise_material_interactorin the actor chain while forgetting to register theparameter_transporterin the same actor chain, even though the material interactor depends on the correct update of the bound track parameters. This PR makes sure, that dependent actors like the material interactor will no longer compile without the parameter_transporter by making their call operator take the parameter transporter state as an argument, which now contains the bound track parameters. Furthermore, this is abstracted in a new type, theparamerter_updater, that additionally makes sure that theparameter_resetteris called correctly, as well. Any actors that depend on the updated bound parameters and covariance can be given to this new type as template parameter list and will automatically be inserted correctly in the actor chain.In the future, it should be possible to add a second state to the parameter transporter, which does not own the bound track parameters but takes a pointer from the CKF to the current bound track parameters. This should avoid copying the bound track parameters between the CKF and the propagation. At the same time, the stepper becomes easier to reuse in a simulation context with this PR, since it is not mandatory anymore to hold the bound track parameters and full jacobian in memory.