Use shared_ptr for target Surface in KF
Currently, the referenceSurface
is passed to KalmanFitterOptions
as a non-owning regular pointer. This could cause potential segfault issue since the surface object could be constructed locally outside of KF (in principle, the target surface could be any surface defined by the user). A safer way to go is to use shared_ptr
for the referenceSurface
in KalmanFitterOptions
and targetSurface
in KalmanActor
.