Struct eskf::Builder

pub struct Builder { /* fields omitted */ }

Builder for ESKF

Implementations

impl Builder

pub fn new() -> Self

Create a new ESKF builder with which to configure an ESKF

pub fn acceleration_variance(self, var: f32) -> Self

Set the acceleration variance of the IMU system being modeled

The variance should be m/s²

pub fn acceleration_variance_from_vec(self, var: Vector3<f32>) -> Self

Set the acceleration variance of the IMU system being modeled

The variance should be a vector in [m/s², 3]

pub fn rotation_variance(self, var: f32) -> Self

Set the rotation variance of the IMU system being modeled

The variance should be rad/s

pub fn rotation_variance_from_vec(self, var: Vector3<f32>) -> Self

Set the rotation variance of the IMU system being modeled

The variance should a vector in [rad/s, 3]

pub fn acceleration_bias(self, bias: f32) -> Self

Set the acceleration bias of the IMU system being modeled

The bias should be m/(s²sqrt(s))

pub fn acceleration_bias_from_vec(self, bias: Vector3<f32>) -> Self

Set the acceleration bias of the IMU system being modeled

The bias should be a vector in [m/(s²sqrt(s)), 3]

pub fn rotation_bias(self, bias: f32) -> Self

Set the rotation bias of the IMU system being modeled

The bias should be rad/(s sqrt(s))

pub fn rotation_bias_from_vec(self, bias: Vector3<f32>) -> Self

Set the rotation bias of the IMU system being modeled

The bias should a vector in [rad/(s sqrt(s)), 3]

pub fn initial_covariance(self, covar: f32) -> Self

Set the initial covariance for the process matrix

The covariance value should be a small process value so that the covariance of the filter quickly converges to the correct value. Too small values could lead to the filter taking a long time to converge and report a lower covariance than what it should.

pub fn build(self) -> ESKF

Convert the builder into a new filter

Trait Implementations

impl Clone for Builder

fn clone(&self) -> Builder

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Builder

impl Debug for Builder

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

Formats the value using the given formatter.

impl Default for Builder

fn default() -> Builder

Returns the “default value” for a type.