Struct Kalman1D 

pub struct Kalman1D { /* private fields */ }

Implementation of Discrete Kalman filter for case when there is only on variable X.

Implementations

impl Kalman1D

pub fn new(dt: f32, u: f32, std_dev_a: f32, std_dev_m: f32) -> Self

Creates new Kalman1D

Basic usage:

use kalman_rust::kalman::Kalman1D;
let dt = 0.1; // Single cycle time
let u = 2.0; // Control input
let std_dev_a = 0.25; // Standart deviation of acceleration
let std_dev_m = 1.2; // Standart deviation of measurement
let mut kalman = Kalman1D::new(dt, u, std_dev_a, std_dev_m);

pub fn predict(&mut self)

Projects the state and the error covariance ahead Mutates the state vector and the error covariance matrix

Basic usage:

use kalman_rust::kalman::Kalman1D;
let dt = 0.1; // Single cycle time
let u = 2.0; // Control input
let std_dev_a = 0.25; // Standart deviation of acceleration
let std_dev_m = 1.2; // Standart deviation of measurement
let mut kalman = Kalman1D::new(dt, u, std_dev_a, std_dev_m);
let measurements = vec![1.0, 2.0, 3.0, 4.0, 5.0];
for x in measurements.iter() {
    // get measurement
    kalman.predict();
    // then do update 
}

pub fn update(&mut self, _z: f32) -> Result<(), Kalman1DError>

Computes the Kalman gain and then updates the state vector and the error covariance matrix Mutates the state vector and the error covariance matrix.

Basic usage:

use kalman_rust::kalman::Kalman1D;
let dt = 0.1; // Single cycle time
let u = 2.0; // Control input
let std_dev_a = 0.25; // Standart deviation of acceleration
let std_dev_m = 1.2; // Standart deviation of measurement
let mut kalman = Kalman1D::new(dt, u, std_dev_a, std_dev_m);
let measurements = vec![1.0, 2.0, 3.0, 4.0, 5.0];
for x in measurements {
    kalman.predict();
    kalman.update(x).unwrap(); // assuming that there is noise in measurement
}

pub fn get_state(&self) -> f32

Returns the current state (only X, not Vx)

pub fn get_vector_state(&self) -> SVector<f32, 2>

Returns the current state (both X and Vx)

Trait Implementations

impl Clone for Kalman1D

fn clone(&self) -> Kalman1D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Kalman1D

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

Formats the value using the given formatter.