Struct SerializableFusionState 

pub struct SerializableFusionState {
    pub version: u16,
    pub state: SerializableInsFilterState,
    pub last_body_rate_wrt_ecef_rps: [F64Bits; 3],
    pub stationarity_window: Vec<SerializableStationarityDetectorSample>,
    pub last_stationary_update_t_j2000_s: Option<F64Bits>,
    pub last_non_holonomic_update_t_j2000_s: Option<F64Bits>,
    pub tight: SerializableTightFilterState,
    pub time_sync: SerializableTimeSyncHistory,
}

Stable serializable fusion checkpoint.

Fields

version: u16

Serialization schema version.

state: SerializableInsFilterState

Closed-loop INS state and covariance.

last_body_rate_wrt_ecef_rps: [F64Bits; 3]

Last propagated body angular rate relative to ECEF, stored as raw f64 bits.

stationarity_window: Vec<SerializableStationarityDetectorSample>

Recent detector samples used by stationary-update gating.

last_stationary_update_t_j2000_s: Option<F64Bits>

Epoch of the last stationary pseudo-measurement, if any.

last_non_holonomic_update_t_j2000_s: Option<F64Bits>

Epoch of the last non-holonomic pseudo-measurement, if any.

tight: SerializableTightFilterState

Tight receiver-clock augmentation and augmented covariance.

time_sync: SerializableTimeSyncHistory

Retained time-sync replay history.

Implementations

impl SerializableFusionState

pub fn from_snapshot(snapshot: &InertialFilterSnapshot) -> Self

Convert a native fusion snapshot into the stable serialized form.

pub fn from_filter( filter: &InertialFilter, ) -> Result<Self, FusionStateCodecError>

Convert a live fusion filter into the stable serialized form.

pub fn to_snapshot( &self, ) -> Result<InertialFilterSnapshot, FusionStateCodecError>

Convert the stable serialized form back to a validated native snapshot.

pub fn encode_versioned(&self) -> Result<Vec<u8>, FusionStateCodecError>

Encode the checkpoint with a binary magic, version, and checksum.

pub fn decode_versioned(bytes: &[u8]) -> Result<Self, FusionStateCodecError>

Decode a binary checkpoint produced by Self::encode_versioned.

pub fn to_json_string(&self) -> Result<String, FusionStateCodecError>

Serialize this checkpoint to JSON using the serde representation.

pub fn from_json_str(text: &str) -> Result<Self, FusionStateCodecError>

Parse a JSON checkpoint using the serde representation.

Trait Implementations

impl Clone for SerializableFusionState

fn clone(&self) -> SerializableFusionState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SerializableFusionState

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for SerializableFusionState

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Eq for SerializableFusionState

impl PartialEq for SerializableFusionState

fn eq(&self, other: &SerializableFusionState) -> 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 Serialize for SerializableFusionState

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for SerializableFusionState