[Afloat16]

Problem

RangeBearingSensor.Hp documents accepting either landmark coordinates or a map index. The index path calls LandmarkMap.landmark, which does not exist, so that documented use raises AttributeError.

Change

Resolve the landmark through the map's indexing API, as h and Hx already do. The numerical Jacobian formula is unchanged.

The regression covers Python and NumPy integer indices, compares the result with coordinate-based lookup, and independently checks it against central differences of the observation function.

Validation

• Both new cases fail with AttributeError on the original source.
• PYTHONPATH=src python -m pytest tests/test_sensor_observation_shape.py tests/test_vehicle_estimators.py -q: 64 passed, 30 subtests passed.
• The modified regression file passes Ruff and formatting.
• git diff --check passed.

[codacy-production]

Up to standards ✅

🟢 Issues 0 issues

Results:
0 new issues

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🟢 Metrics 0 complexity · 0 duplication

Metric	Results
Complexity	0
Duplication	0

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