From 5dbcc504e6cf1d6484775e9a7086311104d51e77 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?St=C3=A9phane=20Adjemian=20=28Ry=C3=BBk=29?=
<stepan@adjemian.eu>
Date: Fri, 13 May 2022 11:39:49 +0200
Subject: [PATCH] Bug fix (pruning at second order in estimation).
Closes #1853.
(cherry picked from commit f7204e6ec803f77eb107614587bb9925a4bee73e)
---
.../local_state_space_iteration_2.cc | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/mex/sources/local_state_space_iterations/local_state_space_iteration_2.cc b/mex/sources/local_state_space_iterations/local_state_space_iteration_2.cc
index 8c81fdfbf6..abdb3e58bd 100644
--- a/mex/sources/local_state_space_iterations/local_state_space_iteration_2.cc
+++ b/mex/sources/local_state_space_iterations/local_state_space_iteration_2.cc
@@ -108,7 +108,7 @@ ss2Iteration_pruning(double *y2, double *y1, const double *yhat2, const double *
// +ghxu·yhat1⊗u
for (int v = particle__, i = 0; v < particle__+n; v++)
for (int s = particle___; s < particle___+q; s++, i += m)
- y2[variable_] += ghxu[variable+i]*epsilon[s]*yhat2[v];
+ y2[variable_] += ghxu[variable+i]*epsilon[s]*yhat1[v];
#ifdef FIRST_ORDER_LOOP
for (int column = 0, column_ = 0; column < q; column++, column_ += m)
{
--
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