pub struct EkfCorrection {
pub innovation: Vec<f64>,
pub design: Vec<Vec<f64>>,
pub measurement_covariance: Vec<Vec<f64>>,
}Expand description
Generic linearized EKF measurement correction.
Fields§
§innovation: Vec<f64>Innovation vector y = z - h(x).
design: Vec<Vec<f64>>Measurement design matrix H, with one row per innovation.
measurement_covariance: Vec<Vec<f64>>Measurement covariance matrix R.
Implementations§
Source§impl EkfCorrection
impl EkfCorrection
Sourcepub fn new(
innovation: Vec<f64>,
design: Vec<Vec<f64>>,
measurement_covariance: Vec<Vec<f64>>,
) -> Result<Self, FusionError>
pub fn new( innovation: Vec<f64>, design: Vec<Vec<f64>>, measurement_covariance: Vec<Vec<f64>>, ) -> Result<Self, FusionError>
Build and validate a generic correction.
Sourcepub fn validate_for_dimension(
&self,
dimension: usize,
) -> Result<(), FusionError>
pub fn validate_for_dimension( &self, dimension: usize, ) -> Result<(), FusionError>
Validate this correction for a state dimension.
Trait Implementations§
Source§impl Clone for EkfCorrection
impl Clone for EkfCorrection
Source§fn clone(&self) -> EkfCorrection
fn clone(&self) -> EkfCorrection
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreSource§impl Debug for EkfCorrection
impl Debug for EkfCorrection
Source§impl PartialEq for EkfCorrection
impl PartialEq for EkfCorrection
Source§fn eq(&self, other: &EkfCorrection) -> bool
fn eq(&self, other: &EkfCorrection) -> bool
Tests for
self and other values to be equal, and is used by ==.impl StructuralPartialEq for EkfCorrection
Auto Trait Implementations§
impl Freeze for EkfCorrection
impl RefUnwindSafe for EkfCorrection
impl Send for EkfCorrection
impl Sync for EkfCorrection
impl Unpin for EkfCorrection
impl UnsafeUnpin for EkfCorrection
impl UnwindSafe for EkfCorrection
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
fn into_either(self, into_left: bool) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left is true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
Converts
self into a Left variant of Either<Self, Self>
if into_left(&self) returns true.
Converts self into a Right variant of Either<Self, Self>
otherwise. Read moreSource§impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Scalar for T
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.