Crate dsfb_hret 

Hierarchical Residual-Envelope Trust (HRET) for grouped multi-sensor fusion.

HretObserver maintains channel and group envelope state, converts those envelopes into trust weights, and produces a convexly weighted correction vector.

Example

use dsfb_hret::HretObserver;

let mut obs = HretObserver::new(
    3,
    2,
    vec![0, 0, 1],
    0.95,
    vec![0.9, 0.85],
    vec![1.0, 1.0, 1.0],
    vec![1.0, 1.0],
    vec![
        vec![1.0, 0.5, 0.5],
        vec![0.0, 1.0, 0.0],
    ],
)
.unwrap();

let (delta_x, weights, s_k, s_g) = obs.update(vec![0.05, 0.12, 0.30]).unwrap();
assert_eq!(delta_x.len(), 2);
assert_eq!(weights.len(), 3);
assert_eq!(s_k.len(), 3);
assert_eq!(s_g.len(), 2);

Structs

HretError

Error returned when HRET inputs fail validation.

HretObserver

Stateful HRET observer for grouped residual fusion.

Type Aliases

HretUpdate

Result of a single HRET update.