Struct KalmanFilter2D 

pub struct KalmanFilter2D {
    pub x: [f32; 2],
    pub p: [f32; 4],
    pub q_var: f32,
    pub r_var: f32,
}

2-State (Position + Velocity) linear Kalman filter for motion tracking and sensor fusion.

Fields

x: [f32; 2]

State vector: [position, velocity]

p: [f32; 4]

2x2 State covariance matrix (row-major: [p00, p01, p10, p11])

q_var: f32

Process noise variance

r_var: f32

Measurement noise variance

Implementations

impl KalmanFilter2D

pub fn new(initial_pos: f32, initial_vel: f32, q_var: f32, r_var: f32) -> Self

Initialise a 2D position/velocity Kalman filter.

pub fn predict(&mut self, dt: f32)

Predict state forward by time delta dt.

pub fn update(&mut self, z_pos: f32) -> [f32; 2]

Update filter with position measurement z_pos. Returns updated position and velocity [pos, vel].

Trait Implementations

impl Clone for KalmanFilter2D

fn clone(&self) -> KalmanFilter2D

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for KalmanFilter2D

impl Debug for KalmanFilter2D

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.