Understanding the physics intuition of: if kf.x[6] + kf.x[2] <=0.

[abewley]

Understanding the physics intuition of: if kf.x[6] + kf.x[2] <=0.

[abewley]

That is the sum of the scale and the delta scale which (due to the simplification of the linear dynamics model) can result in a negative scale. Setting the delta velocity (x[6]) to zero prevents the box from getting smaller. Put another way, this will preserve the scale for that prediction step to avoid the case where assignments cannot be made due to zero area.

[DanielXu123]

Hi , abewley, thanks for the comment.

I'm still having a little curious of x[6]. Does x[6] represent to delta scale or delta velocity ?
self.kf.x[6] = 0 -> set delta velocity to zero or set delta velocity to zero. Or, is gets the same results after all.

And is there any detailed explanation of delta scale ? I'm not so sure about why we will get negative values.