Passing dynamics noise density makes stochastic dynamics less expressive about lowlevelparticlefilters.jl

[baggepinnen]

That is, we can pass whatever density, but the noise is added according to the definition in the dynamics function we pass?

Correct, this filter was added later, and the dynamics density is following along just to match the interface of the other filters. The dynamics_density field of the advanced filter has a default value set to an arbitrary `Normal() distribution so that it does not have to be provided by the user.

[baggepinnen]

I think you might be looking for the AdvancedParticleFilter type? The standard ParticleFilter does assume additive noise, an assumption that is lifted by the AdvancedParticleFilter type. See the docs or the Advanced tutorial for an example of how it's used.

[mjyshin]

Ah, my apologies, I didn't see the propagate_particles! function for pf::AdvancedParticleFilter. When creating the AdvancedParticleFilter object, the dynamics_density does not get used then, right? That is, we can pass whatever density, but the noise is added according to the definition in the dynamics function we pass?