Struct kalman_filter::KalmanFilter
[−]
[src]
pub struct KalmanFilter {
pub state_pre: DMatrix<f32>,
pub state_post: DMatrix<f32>,
pub transition_matrix: DMatrix<f32>,
pub control_matrix: Option<DMatrix<f32>>,
pub measurement_matrix: DMatrix<f32>,
pub process_noise_cov: DMatrix<f32>,
pub measurement_noise_cov: DMatrix<f32>,
pub error_cov_pre: DMatrix<f32>,
pub gain: DMatrix<f32>,
pub error_cov_post: DMatrix<f32>,
// some fields omitted
}Fields
state_pre: DMatrix<f32>
x(k - 1)
state_post: DMatrix<f32>
x(k)
transition_matrix: DMatrix<f32>
A
control_matrix: Option<DMatrix<f32>>
B
measurement_matrix: DMatrix<f32>
H
process_noise_cov: DMatrix<f32>
Q
measurement_noise_cov: DMatrix<f32>
R
error_cov_pre: DMatrix<f32>
P(k - 1)
gain: DMatrix<f32>
K(k)
error_cov_post: DMatrix<f32>
P(k)
Methods
impl KalmanFilter[src]
pub fn new(
dynam_params: usize,
measure_params: usize,
control_params: usize
) -> Self[src]
dynam_params: usize,
measure_params: usize,
control_params: usize
) -> Self
dynamParams: Dimensionality of the state.
measureParams: Dimensionality of the measurement.
controlParams: Dimensionality of the control vector.
pub fn predict(&mut self, control: Option<&[f32]>) -> &DMatrix<f32>[src]
Computes a predicted state.
pub fn correct(&mut self, measurement: &[f32]) -> &DMatrix<f32>[src]
Updates the predicted state from the measurement.
pub fn control_matrix(&mut self, slice: &[f32])[src]
setter
pub fn state_post(&mut self, slice: &[f32])[src]
setter
pub fn transition_matrix(&mut self, slice: &[f32])[src]
setter
pub fn measurement_matrix(&mut self, slice: &[f32])[src]
setter
pub fn process_noise_cov(&mut self, slice: &[f32])[src]
setter
pub fn measurement_noise_cov(&mut self, slice: &[f32])[src]
setter
pub fn error_cov_post(&mut self, slice: &[f32])[src]
setter