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fix(mobile): resolve landmark indices in sensor Jacobians #927

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fix(mobile): resolve landmark indices in sensor Jacobians #927

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2 changes: 1 addition & 1 deletion src/roboticstoolbox/mobile/sensors.py
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Original file line number Diff line number Diff line change
Expand Up @@ -739,7 +739,7 @@ def Hp(self, x: ArrayLike, landmark: int | ArrayLike) -> NDArray:
.. seealso:: :meth:`h` :meth:`Hx` :meth:`Hw`
"""
if base.isinteger(landmark):
xf = self.map.landmark(landmark)
xf = self.map[landmark]
else:
xf = landmark
x = base.getvector(x, 3)
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20 changes: 20 additions & 0 deletions tests/test_sensor_observation_shape.py
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Expand Up @@ -78,6 +78,26 @@ def test_explicit_landmark_scalar_pose_shape() -> None:
nt.assert_allclose(observed, expected, atol=1e-12)


@pytest.mark.parametrize("landmark_id", [0, np.int64(1)])
def test_landmark_jacobian_accepts_map_indices(landmark_id: int) -> None:
robot = Bicycle(x0=[1.0, -2.0, 0.4])
points = np.array([[3.0, 7.0], [4.0, -4.0]])
sensor = RangeBearingSensor(robot, LandmarkMap(points))
point = points[:, landmark_id]
perturbations = np.eye(2) * 1e-6
numerical = np.column_stack(
[
(sensor.h(robot.x, point + step) - sensor.h(robot.x, point - step)) / 2e-6
for step in perturbations
]
)

jacobian = sensor.Hp(robot.x, landmark_id)

nt.assert_allclose(jacobian, numerical, rtol=1e-7, atol=1e-9)
nt.assert_allclose(jacobian, sensor.Hp(robot.x, point))


@pytest.mark.parametrize("slam", [False, True])
def test_single_landmark_ekf_observations(slam: bool) -> None:
start = [1.0, -2.0, 0.4]
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