@@ -42,8 +42,8 @@ namespace localization::dynamics {
              0,               dt_3*noise_ay/2, 0,                   0,               dt_2*noise_ay,   0,                   0,               dt*noise_ay,     0,
              0,               0,               dt_3*noise_atheta/2, 0,               0,               dt_2*noise_atheta,   0,               0,               dt*noise_atheta,
              dt_2*noise_ax/2, 0,               0,                   dt*noise_ax,     0,               0,                   noise_ax,        0,               0,
-             0,               dt_2*noise_ay,   0,                   0,               dt*noise_ay,     0,                   0,               noise_ay,        0,
-             0,               0,               dt_2*noise_atheta,   0,               0,               dt*noise_atheta,     0,               0,               noise_atheta;
+             0,               dt_2*noise_ay/2, 0,                   0,               dt*noise_ay,     0,                   0,               noise_ay,        0,
+             0,               0,               dt_2*noise_atheta/2, 0,               0,               dt*noise_atheta,     0,               0,               noise_atheta;
 
      }
 
 
@@ -13,14 +13,11 @@ namespace localization::dynamics {
         /**
          * @brief Construct a new Constant Acceleration Model object
          * 
-         * @param[in] state_covariance_x 
-         * @param[in] state_covariance_y 
-         * @param[in] state_covariance_theta 
-         * @param[in] process_noise_x 
-         * @param[in] process_noise_y 
-         * @param[in] process_noise_theta 
+         * @param[in] process_noise_ax      Acceleration process noise in x
+         * @param[in] process_noise_ay      Acceleration process noise in y
+         * @param[in] process_noise_atheta  Acceleration process noise in theta
          */
-        ConstantAccelerationModel(double process_noise_x=5, double process_noise_y=5, double process_noise_theta=5);
+        ConstantAccelerationModel(double process_noise_ax=5, double process_noise_ay=5, double process_noise_atheta=5);
 
         /** @brief sets the matrix values depending on the dynamic model
          *
Original file line number	Diff line number	Diff line change
@@ -42,8 +42,8 @@ namespace localization::dynamics {
42	42	0, dt_3noise_ay/2, 0, 0, dt_2noise_ay, 0, 0, dt*noise_ay, 0,
43	43	0, 0, dt_3noise_atheta/2, 0, 0, dt_2noise_atheta, 0, 0, dt*noise_atheta,
44	44	dt_2noise_ax/2, 0, 0, dtnoise_ax, 0, 0, noise_ax, 0, 0,
45		- 0, dt_2noise_ay, 0, 0, dtnoise_ay, 0, 0, noise_ay, 0,
46		- 0, 0, dt_2noise_atheta, 0, 0, dtnoise_atheta, 0, 0, noise_atheta;
	45	+ 0, dt_2noise_ay/2, 0, 0, dtnoise_ay, 0, 0, noise_ay, 0,
	46	+ 0, 0, dt_2noise_atheta/2, 0, 0, dtnoise_atheta, 0, 0, noise_atheta;
47	47
48	48	}
49	49