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Reject estimators the moving coop simulator cannot run - #8
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… a real 6-state covariance for CV
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The moving coop simulator only keeps a real 6-state covariance for the constant-velocity (
cv) estimator. Withca,ctorimm, it ran anyway: positions came from the chosen estimator, but every shared and fused track carried a placeholder identity velocity covariance, and the output was still labelled with that estimator.CoopSwarmConfignow raises aValueErrorfor any estimator other thancv, with a message naming the one that was passed.Testing
sim/tests/test_coop_full_track_estimator.py: 3 of 5 tests fail onmain(77be94f) and all 5 pass with the fix.cv; s7-coop output is byte-identical with and without the change, so no registered result moves.Separate from #7 and based on
main; the two touch different files.