From 250ea11303fc5bf6584fe8e4c2c613217c83bc8c Mon Sep 17 00:00:00 2001
From: Pierre Colle <piercus@gmail.com>
Date: Wed, 23 Sep 2020 18:42:04 +0200
Subject: [PATCH] fix: padWithZero cloning and logic

---
 lib/linalgebra/pad-with-zeros.js    | 8 +++++---
 lib/observation/sensor.js           | 6 ++++--
 lib/setup/build-state-projection.js | 3 ++-
 lib/state.js                        | 2 +-
 test/api/basic.js                   | 3 +++
 5 files changed, 15 insertions(+), 7 deletions(-)

diff --git a/lib/linalgebra/pad-with-zeros.js b/lib/linalgebra/pad-with-zeros.js
index 6ab75b0..e90d9b4 100644
--- a/lib/linalgebra/pad-with-zeros.js
+++ b/lib/linalgebra/pad-with-zeros.js
@@ -6,16 +6,18 @@
 *@returns {Array.<Number> | Array.<Array.<Number>>} paded array
 */
 module.exports = function (array, {dimension}) {
+	const l1 = array.length;
 	const l = array[0].length;
+	const result = array.map(a => a.concat());
 	if (dimension < l) {
 		throw (new TypeError('Dynamic dimension does not match with observedProjection'));
 	}
 
-	for (let i = 0; i < l; i++) {
+	for (let i = 0; i < l1; i++) {
 		for (let j = 0; j < dimension - l; j++) {
-			array[i].push(0);
+			result[i].push(0);
 		}
 	}
 
-	return array;
+	return result;
 };
diff --git a/lib/observation/sensor.js b/lib/observation/sensor.js
index 5d4eb37..3b1fed8 100644
--- a/lib/observation/sensor.js
+++ b/lib/observation/sensor.js
@@ -8,6 +8,8 @@ const polymorphMatrix = require('../utils/polymorph-matrix.js');
 * @returns {ObservationConfig}
 */
 
+const copy = mat => mat.map(a => a.concat());
+
 module.exports = function (options) {
 	const {sensorDimension = 1, sensorCovariance = 1, nSensors = 1} = options;
 	const sensorCovarianceFormatted = polymorphMatrix(sensorCovariance, {dimension: sensorDimension});
@@ -15,8 +17,8 @@ module.exports = function (options) {
 	let concatenatedObservedProjection = [];
 	let concatenatedCovariance = [];
 	for (let i = 0; i < nSensors; i++) {
-		concatenatedObservedProjection = concatenatedObservedProjection.concat(oneSensorObservedProjection);
-		concatenatedCovariance = concatenatedCovariance.concat(sensorCovarianceFormatted);
+		concatenatedObservedProjection = concatenatedObservedProjection.concat(copy(oneSensorObservedProjection));
+		concatenatedCovariance = concatenatedCovariance.concat(copy(sensorCovarianceFormatted));
 	}
 
 	const formattedCovariance = polymorphMatrix(concatenatedCovariance, {dimension: nSensors * sensorDimension});
diff --git a/lib/setup/build-state-projection.js b/lib/setup/build-state-projection.js
index 65e8906..40249cb 100644
--- a/lib/setup/build-state-projection.js
+++ b/lib/setup/build-state-projection.js
@@ -16,9 +16,10 @@ module.exports = function ({observation, dynamic}) {
 	}
 
 	if (observedProjection) {
+		const stateProjection = padWithZeros(observedProjection, {dimension: dynamicDimension});
 		return {
 			observation: Object.assign({}, observation, {
-				stateProjection: padWithZeros(observedProjection, {dimension: dynamicDimension})
+				stateProjection
 			}),
 			dynamic
 		};
diff --git a/lib/state.js b/lib/state.js
index cd2c83a..53372d6 100644
--- a/lib/state.js
+++ b/lib/state.js
@@ -57,7 +57,7 @@ class State {
 		const {mean, covariance} = state; // Index
 		const meanDimension = mean.length;
 		if (typeof (dimension) === 'number' && meanDimension !== dimension) {
-			throw (new Error(`${meanDimension} and ${dimension} are not the same`));
+			throw (new Error(`State.mean with dimension ${meanDimension} does not match expected dimension (${dimension})`));
 		}
 
 		checkMatrix(mean, [meanDimension, 1]);
diff --git a/test/api/basic.js b/test/api/basic.js
index 6b431ac..e3b9a04 100644
--- a/test/api/basic.js
+++ b/test/api/basic.js
@@ -163,6 +163,9 @@ test('Sensor observation', t => {
 	});
 	t.is(kFilter.observation.stateProjection().length,
 		kFilter.observation.sensorDimension * kFilter.observation.nSensors);
+
+	t.is(kFilter.observation.stateProjection()[0].length, 4);
+
 	t.is(kFilter.observation.covariance().length, 8);
 
 	const observations = [[[102], [101], [98], [105]]];