Enum ErrorStateLayout 

pub enum ErrorStateLayout {
    Fifteen,
    TwentyOne,
}

Error-state covariance layout.

Variants

Fifteen

Fifteen-state layout dr, dv, psi, b_a, b_g.

TwentyOne

Twenty-one-state layout adding s_a, s_g after the first 15 states.

Implementations

impl ErrorStateLayout

pub const fn dimension(self) -> usize

Return the state dimension for this layout.

pub const fn includes_scale_factors(self) -> bool

Return whether this layout carries IMU scale-factor error states.

pub fn validate_len( self, len: usize, field: &'static str, ) -> Result<(), FusionError>

Validate a vector length against this layout.

Trait Implementations

impl Clone for ErrorStateLayout

fn clone(&self) -> ErrorStateLayout

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for ErrorStateLayout

impl Debug for ErrorStateLayout

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

Formats the value using the given formatter.

impl Eq for ErrorStateLayout

impl PartialEq for ErrorStateLayout

fn eq(&self, other: &ErrorStateLayout) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl StructuralPartialEq for ErrorStateLayout