Struct openpilot::common::ext_kal_fltr::SimpleSensor

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

Represents a simple sensor with an observation model and covariance matrix.

Fields

obs_model: Array2<f64>

Observation model matrix for the simple sensor.

covar: Array2<f64>

Covariance matrix for the simple sensor.

Implementations

impl SimpleSensor

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

Creates a new SimpleSensor instance.

Arguments

• obs_model - Observation model matrix for the simple sensor.
• covar - Covariance matrix for the simple sensor.
• dims - Number of dimensions for the observation model.

Returns

(SimpleSensor): A new SimpleSensor instance.

Examples

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

let obs_model = arr2(&[[1.0, 0.0], [0.0, 1.0]]);
let covar = arr2(&[[0.1, 0.0], [0.0, 0.1]]);
let dims = 2;
let simple_sensor = SimpleSensor::new(obs_model, covar, dims);

pub fn read( &self, data: Array2<f64>, covar: Option<Array2<f64>> ) -> SensorReading

Reads data from the sensor and returns a SensorReading instance.

Arguments

• data - Observed data from the sensor.
• covar - Optional covariance matrix. If not provided, the default covariance of the sensor is used.

Returns

(SensorReading): A new SensorReading instance based on the sensor’s data and covariance.

Examples

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

let obs_model = arr2(&[[1.0, 0.0], [0.0, 1.0]]);
let covar = arr2(&[[0.1, 0.0], [0.0, 0.1]]);
let dims = 2;
let simple_sensor = SimpleSensor::new(obs_model, covar, dims);
let data = arr2(&[[1.0, 2.0]]);
let sensor_reading = simple_sensor.read(data, None);

Trait Implementations

impl Debug for SimpleSensor

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

Formats the value using the given formatter.