Trait bayes_estimate::models::ExtendedLinearObserver

pub trait ExtendedLinearObserver<N: RealField, D: Dim, ZD: Dim> where
    DefaultAllocator: Allocator<N, ZD, D> + Allocator<N, ZD, ZD> + Allocator<N, ZD>, {
    fn observe_innovation(
        &mut self, 
        s: &OVector<N, ZD>, 
        Hx: &OMatrix<N, ZD, D>, 
        noise: &CorrelatedNoise<N, ZD>
    ) -> Result<(), &'static str>;
}

An extended linear observer.

Uses a non-linear state observation with linearised estimation model and additive noise.

Required methods

fn observe_innovation(
    &mut self,
    s: &OVector<N, ZD>,
    Hx: &OMatrix<N, ZD, D>,
    noise: &CorrelatedNoise<N, ZD>
) -> Result<(), &'static str>

Uses a non-linear state observation with linear estimation model and additive noise.

Implementors

impl<N: Copy + RealField, D: Dim, ZD: Dim> ExtendedLinearObserver<N, D, ZD> for InformationRootState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, ZD, D> + Allocator<N, ZD, ZD> + Allocator<N, D> + Allocator<N, ZD>,
    D: DimAdd<ZD> + DimAdd<U1>,
    DefaultAllocator: Allocator<N, DimSum<D, ZD>, DimSum<D, U1>> + Allocator<N, DimSum<D, ZD>>,
    DimSum<D, ZD>: DimMin<DimSum<D, U1>>,
    DefaultAllocator: Allocator<N, DimMinimum<DimSum<D, ZD>, DimSum<D, U1>>> + Allocator<N, DimMinimum<DimSum<D, ZD>, DimSum<D, U1>>, DimSum<D, U1>>, 

impl<N: Copy + RealField, D: Dim, ZD: Dim> ExtendedLinearObserver<N, D, ZD> for InformationState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D, ZD> + Allocator<N, ZD, D> + Allocator<N, ZD, ZD> + Allocator<N, D> + Allocator<N, ZD>, 

impl<N: RealField, D: Dim, ZD: Dim> ExtendedLinearObserver<N, D, ZD> for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, ZD, ZD> + Allocator<N, ZD, D> + Allocator<N, D, ZD> + Allocator<N, D> + Allocator<N, ZD>,