Struct UnscentedTransformOptions 

pub struct UnscentedTransformOptions {
    pub alpha: f64,
    pub beta: f64,
    pub kappa: f64,
}

Scaled unscented-transform parameters.

alpha, beta, and kappa produce Wan/van der Merwe sigma-point weights with lambda = alpha^2 * (n + kappa) - n.

Fields

alpha: f64

Sigma-point spread around the mean.

beta: f64

Prior-distribution shape parameter. 2.0 is the Gaussian choice.

kappa: f64

Secondary sigma-point scaling parameter.

Implementations

impl UnscentedTransformOptions

pub fn validate_for_dimension( &self, dimension: usize, ) -> Result<(), FusionError>

Validate scaling parameters for a state dimension.

Trait Implementations

impl Clone for UnscentedTransformOptions

fn clone(&self) -> UnscentedTransformOptions

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for UnscentedTransformOptions

impl Debug for UnscentedTransformOptions

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

Formats the value using the given formatter.

impl Default for UnscentedTransformOptions

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for UnscentedTransformOptions

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