Struct bayes_estimate::models::KalmanState[−][src]

pub struct KalmanState<N: SimdRealField, D: Dim> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>,  {
    pub x: OVector<N, D>,
    pub X: OMatrix<N, D, D>,
}
Expand description

Kalman state.

Linear representation as a state vector and the state covariance (symmetric positive semi-definite) matrix.

Fields

x: OVector<N, D>

State vector

X: OMatrix<N, D, D>

State covariance matrix (symmetric positive semi-definite)

Implementations

impl<N: RealField, D: Dim> KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

pub fn new_zero(d: D) -> KalmanState<N, D>[src]

impl<N: RealField, D: Dim> KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D> + Allocator<N, U1, D>, [src]

pub fn predict_unscented(
    &mut self,
    f: fn(_: &OVector<N, D>) -> OVector<N, D>,
    noise: &CorrelatedNoise<N, D>,
    kappa: N
) -> Result<(), &'static str>[src]

State prediction with a functional prediction model and additive noise.

pub fn observe_unscented<ZD: Dim>(
    &mut self,
    h: fn(_: &OVector<N, D>) -> OVector<N, ZD>,
    h_normalise: fn(_: &mut OVector<N, ZD>, _: &OVector<N, ZD>),
    noise: &CorrelatedNoise<N, ZD>,
    s: &OVector<N, ZD>,
    kappa: N
) -> Result<(), &'static str> where
    DefaultAllocator: Allocator<N, D, ZD> + Allocator<N, ZD, ZD> + Allocator<N, U1, ZD> + Allocator<N, ZD>, [src]

Trait Implementations

impl<N: Clone + SimdRealField, D: Clone + Dim> Clone for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

fn clone(&self) -> KalmanState<N, D>[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0[src]

Performs copy-assignment from source. Read more

impl<N: RealField, D: Dim> Estimator<N, D> for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

fn state(&self) -> Result<OVector<N, D>, &'static str>[src]

The estimator’s estimate of the system’s state.

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>, [src]

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

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

impl<N: RealField, D: Dim> ExtendedLinearPredictor<N, D> for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

fn predict(
    &mut self,
    x_pred: &OVector<N, D>,
    fx: &OMatrix<N, D, D>,
    noise: &CorrelatedNoise<N, D>
) -> Result<(), &'static str>[src]

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

impl<N: RealField, D: Dim> KalmanEstimator<N, D> for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

fn init(&mut self, state: &KalmanState<N, D>) -> Result<(), &'static str>[src]

Initialise the estimator with a KalmanState.

fn kalman_state(&self) -> Result<KalmanState<N, D>, &'static str>[src]

The estimator’s estimate of the system’s KalmanState.

impl<N: PartialEq + SimdRealField, D: PartialEq + Dim> PartialEq<KalmanState<N, D>> for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

fn eq(&self, other: &KalmanState<N, D>) -> bool[src]

This method tests for self and other values to be equal, and is used by ==. Read more

fn ne(&self, other: &KalmanState<N, D>) -> bool[src]

This method tests for !=.

impl<N: SimdRealField, D: Dim> StructuralPartialEq for KalmanState<N, D> where
    DefaultAllocator: Allocator<N, D, D> + Allocator<N, D>, [src]

Auto Trait Implementations

impl<N, D> !RefUnwindSafe for KalmanState<N, D>

impl<N, D> !Send for KalmanState<N, D>

impl<N, D> !Sync for KalmanState<N, D>

impl<N, D> !Unpin for KalmanState<N, D>

impl<N, D> !UnwindSafe for KalmanState<N, D>

Blanket Implementations

impl<T> Any for T where
    T: 'static + ?Sized, [src]

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized, [src]

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized, [src]

pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

impl<T, U> Into<U> for T where
    U: From<T>, [src]

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>, 

pub fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
    T: Clone, [src]

type Owned = T

The resulting type after obtaining ownership.

pub fn to_owned(&self) -> T[src]

Creates owned data from borrowed data, usually by cloning. Read more

pub fn clone_into(&self, target: &mut T)[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

impl<T, U> TryFrom<U> for T where
    U: Into<T>, [src]

type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>, [src]

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>, 

pub fn vzip(self) -> V