Struct TrackState

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pub struct TrackState {
    pub frame: TrackCoordinateFrame,
    pub t_s: f64,
    pub position_m: Vec<f64>,
    pub velocity_m_s: Vec<f64>,
    pub covariance: Vec<Vec<f64>>,
}

Expand description

State of a no-IMU constant-velocity track filter.

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§frame: TrackCoordinateFrame

Cartesian frame of the state and covariance.

§t_s: f64

Epoch in seconds in the caller’s monotonic time base.

§position_m: Vec<f64>

Position components in metres.

§velocity_m_s: Vec<f64>

Velocity components in metres per second.

§covariance: Vec<Vec<f64>>

Covariance over [position, velocity].

Implementations§

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impl TrackState

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pub fn new( frame: TrackCoordinateFrame, t_s: f64, position_m: Vec<f64>, velocity_m_s: Vec<f64>, covariance: Vec<Vec<f64>>, ) -> Result<Self, TrackError>

Build and validate one track state.

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pub fn dimension(&self) -> usize

Return the position dimension.

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pub fn state_dimension(&self) -> usize

Return the full state dimension.

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pub fn state_vector(&self) -> Vec<f64>

Return [position, velocity] as an owned vector.

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pub fn position_covariance_m2(&self) -> Vec<Vec<f64>>

Return the leading position covariance block.

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pub fn position_covariance3_m2(&self) -> Result<[[f64; 3]; 3], TrackError>

Return the 3D position covariance block.

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pub fn position3_m(&self) -> Result<[f64; 3], TrackError>

Return the 3D position vector.

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pub fn velocity3_m_s(&self) -> Result<[f64; 3], TrackError>

Return the 3D velocity vector.

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pub fn validate(&self) -> Result<(), TrackError>

Validate vector dimensions, finiteness, and covariance.

Trait Implementations§

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impl Clone for TrackState

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fn clone(&self) -> TrackState

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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impl Debug for TrackState

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

Formats the value using the given formatter. Read more

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impl PartialEq for TrackState

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

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

1.0.0 (const: unstable) · Source§

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

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

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impl StructuralPartialEq for TrackState

Auto Trait Implementations§

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impl UnwindSafe for TrackState

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> CloneToUninit for T
where T: Clone,

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> IntoEither for T

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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 more

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fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
where F: FnOnce(&Self) -> bool,

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 more

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