def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):
    self.dim_state = self.x_initial.shape[0]
    x_init = self.x_initial
    x_init[States.STEER_RATIO] = steer_ratio
    x_init[States.STIFFNESS] = stiffness_factor
    x_init[States.ANGLE_OFFSET] = angle_offset
    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, self.dim_state, maha_test_kinds=self.maha_test_kinds, global_vars=self.global_vars)
def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0):
    self.dim_state = self.x_initial.shape[0]
    x_init = self.x_initial
    x_init[States.STEER_RATIO] = steer_ratio
    x_init[States.STIFFNESS] = stiffness_factor
    x_init[States.ANGLE_OFFSET] = angle_offset
    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state, self.dim_state, maha_test_kinds=self.maha_test_kinds, global_vars=self.global_vars)