Struct nyx_space::od::kalman::KF[−][src]

pub struct KF<T, A, M> where
    A: DimName,
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, A> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, A, A> + Allocator<f64, <T as State>::Size, A> + Allocator<f64, A, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,  {
    pub prev_estimate: KfEstimate<T>,
    pub measurement_noise: MatrixMN<f64, M, M>,
    pub process_noise: Vec<SNC<A>>,
    pub ekf: bool,
    // some fields omitted
}

Expand description

Defines both a Classical and an Extended Kalman filter (CKF and EKF) S: State size (not propagated vector size) A: Acceleration size (for SNC) M: Measurement size (used for the sensitivity matrix) T: Type of state P: Propagated vector size

Fields

prev_estimate: KfEstimate<T>

The previous estimate used in the KF computations.

measurement_noise: MatrixMN<f64, M, M>

Sets the Measurement noise (usually noted R)

process_noise: Vec<SNC<A>>

A sets of process noise (usually noted Q), must be ordered chronologically

ekf: bool

Determines whether this KF should operate as a Conventional/Classical Kalman filter or an Extended Kalman Filter. Recall that one should switch to an Extended KF only once the estimate is good (i.e. after a few good measurement updates on a CKF).

Implementations

impl<T, A, M> KF<T, A, M> where
    A: DimName,
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, A> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, M> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, A, A> + Allocator<f64, <T as State>::Size, A> + Allocator<f64, A, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,

pub fn new(
    initial_estimate: KfEstimate<T>, 
    process_noise: SNC<A>, 
    measurement_noise: MatrixMN<f64, M, M>
) -> Self

Initializes this KF with an initial estimate, measurement noise, and one process noise

pub fn with_sncs(
    initial_estimate: KfEstimate<T>, 
    process_noises: Vec<SNC<A>>, 
    measurement_noise: MatrixMN<f64, M, M>
) -> Self

Initializes this KF with an initial estimate, measurement noise, and several process noise WARNING: SNCs MUST be ordered chronologically! They will be selected automatically by walking the list of SNCs backward until one can be applied!

impl<T, M> KF<T, U3, M> where
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, M> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, U3, U3> + Allocator<f64, <T as State>::Size, U3> + Allocator<f64, U3, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,

pub fn no_snc(
    initial_estimate: KfEstimate<T>, 
    measurement_noise: MatrixMN<f64, M, M>
) -> Self

Initializes this KF without SNC

Trait Implementations

impl<T: Clone, A: Clone, M: Clone> Clone for KF<T, A, M> where
    A: DimName,
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, A> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, A, A> + Allocator<f64, <T as State>::Size, A> + Allocator<f64, A, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,

fn clone(&self) -> KF<T, A, M>[src]

Returns a copy of the value. Read more

fn clone_from(&mut self, source: &Self)1.0.0 [src]

Performs copy-assignment from source. Read more

impl<T: Debug, A: Debug, M: Debug> Debug for KF<T, A, M> where
    A: DimName,
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, A> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, A, A> + Allocator<f64, <T as State>::Size, A> + Allocator<f64, A, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,

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

Formats the value using the given formatter. Read more

impl<T, A, M> Filter<T, A, M> for KF<T, A, M> where
    A: DimName,
    M: DimName,
    T: State,
    DefaultAllocator: Allocator<f64, M> + Allocator<f64, <T as State>::Size> + Allocator<f64, A> + Allocator<f64, M, M> + Allocator<f64, M, <T as State>::Size> + Allocator<f64, <T as State>::Size, M> + Allocator<f64, <T as State>::Size, <T as State>::Size> + Allocator<f64, A, A> + Allocator<f64, <T as State>::Size, A> + Allocator<f64, A, <T as State>::Size> + Allocator<usize, <T as State>::Size> + Allocator<usize, <T as State>::Size, <T as State>::Size>,

fn previous_estimate(&self) -> &Self::Estimate[src]

Returns the previous estimate

fn update_stm(
    &mut self, 
    new_stm: MatrixMN<f64, <T as State>::Size, <T as State>::Size>
)

Update the State Transition Matrix (STM). This function must be called in between each call to time_update or measurement_update.

fn update_h_tilde(&mut self, h_tilde: MatrixMN<f64, M, <T as State>::Size>)[src]

Update the sensitivity matrix (or “H tilde”). This function must be called prior to each call to measurement_update.

fn time_update(&mut self, nominal_state: T) -> Result<Self::Estimate, NyxError>[src]

Computes a time update/prediction (i.e. advances the filter estimate with the updated STM).

May return a FilterError if the STM was not updated.

fn measurement_update(
    &mut self, 
    nominal_state: T, 
    real_obs: &VectorN<f64, M>, 
    computed_obs: &VectorN<f64, M>
) -> Result<(Self::Estimate, Residual<M>), NyxError>

Computes the measurement update with a provided real observation and computed observation.

May return a FilterError if the STM or sensitivity matrices were not updated.

fn set_process_noise(&mut self, snc: SNC<A>)[src]

Overwrites all of the process noises to the one provided

type Estimate = KfEstimate<T>

fn set_previous_estimate(&mut self, est: &Self::Estimate)[src]

Set the previous estimate

fn is_extended(&self) -> bool[src]

Returns whether the filter is an extended filter (e.g. EKF)

fn set_extended(&mut self, status: bool)[src]

Sets the filter to be extended or not depending on the value of status

Auto Trait Implementations

impl<T, A, M> !RefUnwindSafe for KF<T, A, M>

impl<T, A, M> !Send for KF<T, A, M>

impl<T, A, M> !Sync for KF<T, A, M>

impl<T, A, M> !Unpin for KF<T, A, M>

impl<T, A, M> !UnwindSafe for KF<T, A, M>

Blanket Implementations

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

pub fn type_id(&self) -> TypeId[src]

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T where
    T: ?Sized,

pub fn borrow(&self) -> &T[src]

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T where
    T: ?Sized,

pub fn borrow_mut(&mut self) -> &mut T[src]

Mutably borrows from an owned value. Read more

impl<T> From<T> for T[src]

pub fn from(t: T) -> T[src]

Performs the conversion.

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

pub fn into(self) -> U[src]

Performs the conversion.

impl<T> Pointable for T

pub const ALIGN: usize

The alignment of pointer.

type Init = T

The type for initializers.

pub unsafe fn init(init: <T as Pointable>::Init) -> usize

Initializes a with the given initializer. Read more

pub unsafe fn deref<'a>(ptr: usize) -> &'a T

Dereferences the given pointer. Read more

pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T

Mutably dereferences the given pointer. Read more

pub unsafe fn drop(ptr: usize)

Drops the object pointed to by the given pointer. Read more

impl<T> Same<T> for T

type Output = T

Should always be Self

impl<SS, SP> SupersetOf<SS> for SP where
    SS: SubsetOf<SP>,

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

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

pub fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

pub fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

pub fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T> ToOwned for T where
    T: Clone,

type Owned = T

The resulting type after obtaining ownership.

pub fn to_owned(&self) -> T[src]

Creates owned data from borrowed data, usually by cloning. Read more

pub fn clone_into(&self, target: &mut T)[src]

🔬 This is a nightly-only experimental API. (toowned_clone_into)

recently added

Uses borrowed data to replace owned data, usually by cloning. Read more

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

type Error = Infallible

The type returned in the event of a conversion error.

pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>[src]

Performs the conversion.

impl<T, U> TryInto<U> for T where
    U: TryFrom<T>,

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

The type returned in the event of a conversion error.

pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>[src]

Performs the conversion.

impl<V, T> VZip<V> for T where
    V: MultiLane<T>,

pub fn vzip(self) -> V