Bug fixes.

Author: Crouse

Assignment_Algorithms/singleScanUpdateWithExistence.m

@@ -59,7 +59,7 @@
 %              2) JIPDA*
 %              3) Approximate GNN-JIPDA
 %              4) Approximate JIPDA
-%              5) Naïve nearest neighbor JIPDA.
+%              5) Naive nearest neighbor JIPDA.
 %              6) Approximate naïve nearest neighbor JIPDA.
 %      algSel2 An optional parameter that further specifies the algorithm
 %              used when algSel1=3,4. If omitted but algSel1 is specified,
@@ -224,7 +224,7 @@
 %Allocate space for the return variables.
 xUpdate=zeros(xDim,numTar);
 PUpdate=zeros(xDim,xDim,numTar);
-if(algSel1==1||algSel1==3)%If a GNN estimate is used in place of the mean
+if(algSel1==0||algSel1==3)%If a GNN estimate is used in place of the mean
     %Perform 2D assignment
     ALog=log(A);
     tar2Meas=assign2D(ALog,true);

Coordinate_Systems/Rotations/rotMat2Quat.m

@@ -90,9 +90,9 @@
     q3=(1/(4*q2))*(R23+R32);
 else
     q3=0.5*sqrt(1-R11-R22+R33);
-    q0=(1/(4*q2))*(R12-R21);
-    q1=(1/(4*q2))*(R31+R13);
-    q2=(1/(4*q2))*(R23+R32);
+    q0=(1/(4*q3))*(R12-R21);
+    q1=(1/(4*q3))*(R31+R13);
+    q2=(1/(4*q3))*(R23+R32);
 end
 
 %The above implementation provides a left-handed quaternion, so the sign of

Coordinate_Systems/geogHeading2ENUVec.m

@@ -8,9 +8,9 @@
 % angUpFromLevel A length numPts vector of elevations above the local
 %                tangent plane in radians.
 %
-%OUTPUTS:  u A 3XnumPts set of unit vectors in local ENU coordinates
-%            corresponding to the directions given in heading and
-%            angUpFromLevel.
+%OUTPUTS: u A 3XnumPts set of unit vectors in local ENU coordinates
+%           corresponding to the directions given in heading and
+%           angUpFromLevel.
 %
 %The transformation is just a specific definition of the spherical
 %coordinate system. There is no need for information on the shape of the
@@ -36,8 +36,8 @@
 cosEl=cos(angUpFromLevel);
 sinEl=sin(angUpFromLevel);
 
-u=[cos(heading).*cosEl;
-   sin(heading).*cosEl;
+u=[sin(heading).*cosEl;
+   cos(heading).*cosEl;
    sinEl];
 
 end