Struct SigmaBounds 

pub struct SigmaBounds { /* private fields */ }

Where a reported standard deviation is allowed to lie, for the clamped constructors of PositionNoise and VelocityNoise: a floor, a cap, or both.

A type rather than two bare f32s, and one per axis, because both production estimators bound the horizontal and vertical axes of one fix differently (PX4 and ArduPilot each floor vertical position at 1.5 times the horizontal floor), and a caller holds these in its own configuration and passes them on every fix. Copy for that reason, where a RangeInclusive would need cloning at each call.

Implementations

impl SigmaBounds

pub const fn new(min: f32, max: f32) -> Self

A σ held between min and max, in the unit of the noise it bounds.

Bounds the wrong way round saturate to max rather than refusing: clamped is on the per-measurement path, and a filter that cannot panic has no better answer available.

pub const fn at_least(min: f32) -> Self

A σ floored at min and not capped, as PX4 bounds a receiver’s speed accuracy.

Trait Implementations

impl Clone for SigmaBounds

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SigmaBounds

impl Debug for SigmaBounds

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

Formats the value using the given formatter.

impl PartialEq for SigmaBounds

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for SigmaBounds