Struct EkfCorrectionReport 

pub struct EkfCorrectionReport {
    pub applied: bool,
    pub normalized_innovation_squared: f64,
    pub accepted_rows: usize,
    pub rejected_rows: usize,
    pub innovation_gate: Option<InnovationGateReport>,
    pub innovation_covariance: Vec<Vec<f64>>,
    pub kalman_gain: Vec<Vec<f64>>,
    pub dx: Vec<f64>,
}

Diagnostics from one EKF correction attempt.

Fields

applied: bool

Whether the correction was applied to the nominal state and covariance.

normalized_innovation_squared: f64

Normalized innovation squared for the rows used by the report.

accepted_rows: usize

Number of rows accepted by screening or used without screening.

rejected_rows: usize

Number of rows rejected by screening.

innovation_gate: Option<InnovationGateReport>

Optional innovation gate diagnostics.

innovation_covariance: Vec<Vec<f64>>

Innovation covariance S.

kalman_gain: Vec<Vec<f64>>

Kalman gain K.

dx: Vec<f64>

Error-state estimate applied to the closed-loop nominal state.

Trait Implementations

impl Clone for EkfCorrectionReport

fn clone(&self) -> EkfCorrectionReport

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for EkfCorrectionReport

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

Formats the value using the given formatter.

impl PartialEq for EkfCorrectionReport

fn eq(&self, other: &EkfCorrectionReport) -> 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 EkfCorrectionReport