kfilter::system

Struct NonLinearSystem

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pub struct NonLinearSystem<T: RealField, const N: usize, const U: usize> { /* private fields */ }
Expand description

A non-linear system with an input. Defined by a StepFunction that performs state transition and jacobian and covariance calculation.

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impl<T: RealField, const N: usize, const U: usize> NonLinearSystem<T, N, U>

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pub fn new(step_fn: StepFunction<T, N, U>, x_initial: SVector<T, N>) -> Self

Create a new NonLinearSystem using a StepFunction

Trait Implementations§

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impl<T: Clone + RealField, const N: usize, const U: usize> Clone for NonLinearSystem<T, N, U>

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fn clone(&self) -> NonLinearSystem<T, N, U>

Returns a duplicate of the value. Read more
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const fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl<T: Debug + RealField, const N: usize, const U: usize> Debug for NonLinearSystem<T, N, U>

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

Formats the value using the given formatter. Read more
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impl<T: RealField + Copy, const N: usize, const U: usize> InputSystem<T, N, U> for NonLinearSystem<T, N, U>

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fn step(&mut self, u: SVector<T, U>) -> &SVector<T, N>

transition to the next state, returning a reference to it
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impl<T: RealField + Copy, const N: usize, const U: usize> System<T, N, U> for NonLinearSystem<T, N, U>

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fn transition(&self) -> &SMatrix<T, N, N>

Get the transition matrix (Jacobian)
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fn transition_transpose(&self) -> &SMatrix<T, N, N>

Get the transpose of the transition matrix
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fn covariance(&self) -> &SMatrix<T, N, N>

Get a reference to the process covariance matrix
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fn state(&self) -> &SVector<T, N>

Get a reference to the state
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fn state_mut(&mut self) -> &mut SVector<T, N>

Get a mutable reference to the state

Auto Trait Implementations§

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impl<T, const N: usize, const U: usize> Freeze for NonLinearSystem<T, N, U>
where T: Freeze,

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impl<T, const N: usize, const U: usize> RefUnwindSafe for NonLinearSystem<T, N, U>
where T: RefUnwindSafe,

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impl<T, const N: usize, const U: usize> Send for NonLinearSystem<T, N, U>

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impl<T, const N: usize, const U: usize> Sync for NonLinearSystem<T, N, U>

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impl<T, const N: usize, const U: usize> Unpin for NonLinearSystem<T, N, U>
where T: Unpin,

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impl<T, const N: usize, const U: usize> UnwindSafe for NonLinearSystem<T, N, U>
where T: UnwindSafe,

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
Performs copy-assignment from self to dest. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.