FA-12069 / Sensor fusion consistency / Member archive
Measurement channel permutation leaves covariance behind · case 04
An uncertainty belongs to the wrong sensor channel.
Case contract
Given a 2x2 measurement covariance in source order and a permutation of [0,1], return covariance in requested channel order.
Why this case matters
Deterministic sensor-fusion model isolating one consistency contract; no hardware or production estimator is simulated.
One recorded failure
Sample boundary fixtureThis sample comes from the broken implementation of a controlled reproducer.
| Boundary fixture | Actual | Expected | Outcome |
|---|---|---|---|
| unequal uncertainties | [[4, 0], [0, 16]] | [[16, 0], [0, 4]] | Failed |
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