Matrix B is 1x4 yet RebuildB tries to set it 2x4 data

[Pstoppani]

With asserts enabled, this crashes:

    private void rebuildB(double dtPredict) {
        double dt2 = 0.5*dtPredict*dtPredict;
        double b[] = {
                dt2, 0.0,
                0.0, dt2,
                dtPredict, 0.0,
                0.0, dtPredict
        };
        m_kf.B.setData(b); <-------  b is 1x4
    }

[Pstoppani]

I believe the problem here is that the Kalman filter should be initialized with control matrix with dimension 2, not 1.

[Pstoppani]

BTW - I had to change the assert() calls to:

        if (BuildConfig.DEBUG && !(args.length == rows * cols)) { throw new AssertionError(); }

The current Android Studio apparently no longer supports the old assert() function as indicated by the warning:

"Assertions are unreliable in Dalvik and unimplemented in ART. Use BuildConfig.DEBUG conditional checks instead. less... (⌘F1)

Inspection info:Assertions are not checked at runtime. There are ways to request that they be used by Dalvik (adb shell setprop debug.assert 1), but note that this is not implemented in ART (the newer runtime), and even in Dalvik the property is ignored in many places and can not be relied upon. Instead, perform conditional checking inside if (BuildConfig.DEBUG) { } blocks. That constant is a static final boolean which is true in debug builds and false in release builds, and the Java compiler completely removes all code inside the if-body from the app. For example, you can replace assert speed > 0 with if (BuildConfig.DEBUG && !(speed > 0)) { throw new AssertionError() }.

(Note: This lint check does not flag assertions purely asserting nullness or non-nullness; these are typically more intended for tools usage than runtime checks.) Issue id: Assert More info: https://code.google.com/p/android/issues/detail?id=65183"