Struct openpilot::common::ext_kal_fltr::SensorReading

pub struct SensorReading {
    pub data: Array2<f64>,
    pub obs_model: Array2<f64>,
    pub covar: Array2<f64>,
}

Represents a sensor reading, including observed data, observation model, and covariance matrix.

Fields

data: Array2<f64>

Observed data associated with the sensor reading.

obs_model: Array2<f64>

Observation model matrix for the sensor reading.

covar: Array2<f64>

Covariance matrix for the sensor reading.

Implementations

impl SensorReading

pub fn new( data: Array2<f64>, obs_model: Array2<f64>, covar: Array2<f64> ) -> Self

Creates a new SensorReading instance.

Arguments

• data - Observed data associated with the sensor reading.
• obs_model - Observation model matrix for the sensor reading.
• covar - Covariance matrix for the sensor reading.

Returns

(SensorReading): A new SensorReading instance.

Examples

use ndarray::{arr2, Array2};
use openpilot::common::ext_kal_fltr::SensorReading;

let data = arr2(&[[1.0, 2.0], [3.0, 4.0]]);
let obs_model = arr2(&[[1.0, 0.0], [0.0, 1.0]]);
let covar = arr2(&[[0.1, 0.0], [0.0, 0.1]]);
let sensor_reading = SensorReading::new(data, obs_model.clone(), covar.clone());

assert_eq!(obs_model.shape(), covar.clone().shape(), "Observation model and covariance matrix dimensions do not match");

Trait Implementations

impl Debug for SensorReading

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

Formats the value using the given formatter.