pub struct StationaryUpdateConfig {
pub detector: StationaryDetectorConfig,
pub zero_velocity_sigma_mps: f64,
pub zero_angular_rate_sigma_rps: f64,
}Expand description
Stationarity detector and pseudo-measurement sigmas for ZUPT/ZARU.
Fields§
§detector: StationaryDetectorConfigDetector thresholds over a trailing IMU epoch window.
zero_velocity_sigma_mps: f64One-sigma zero-velocity pseudo-measurement noise in m/s.
zero_angular_rate_sigma_rps: f64One-sigma zero-angular-rate pseudo-measurement noise in rad/s.
Implementations§
Source§impl StationaryUpdateConfig
impl StationaryUpdateConfig
Sourcepub fn validate(&self) -> Result<(), FusionError>
pub fn validate(&self) -> Result<(), FusionError>
Validate detector settings and pseudo-measurement sigmas.
Trait Implementations§
Source§impl Clone for StationaryUpdateConfig
impl Clone for StationaryUpdateConfig
Source§fn clone(&self) -> StationaryUpdateConfig
fn clone(&self) -> StationaryUpdateConfig
Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§fn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from
source. Read moreimpl Copy for StationaryUpdateConfig
Source§impl Debug for StationaryUpdateConfig
impl Debug for StationaryUpdateConfig
Source§impl PartialEq for StationaryUpdateConfig
impl PartialEq for StationaryUpdateConfig
Source§fn eq(&self, other: &StationaryUpdateConfig) -> bool
fn eq(&self, other: &StationaryUpdateConfig) -> bool
Tests for
self and other values to be equal, and is used by ==.impl StructuralPartialEq for StationaryUpdateConfig
Auto Trait Implementations§
impl Freeze for StationaryUpdateConfig
impl RefUnwindSafe for StationaryUpdateConfig
impl Send for StationaryUpdateConfig
impl Sync for StationaryUpdateConfig
impl Unpin for StationaryUpdateConfig
impl UnsafeUnpin for StationaryUpdateConfig
impl UnwindSafe for StationaryUpdateConfig
Blanket Implementations§
Source§impl<T> BorrowMut<T> for Twhere
T: ?Sized,
impl<T> BorrowMut<T> for Twhere
T: ?Sized,
Source§fn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
Source§impl<T> CloneToUninit for Twhere
T: Clone,
impl<T> CloneToUninit for Twhere
T: Clone,
Source§impl<T> IntoEither for T
impl<T> IntoEither for T
Source§fn into_either(self, into_left: bool) -> Either<Self, Self>
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 moreSource§fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
fn into_either_with<F>(self, into_left: F) -> Either<Self, Self>
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 moreSource§impl<T> Pointable for T
impl<T> Pointable for T
impl<T> Scalar for T
Source§impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SPwhere
SS: SubsetOf<SP>,
Source§fn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct
self from the equivalent element of its
superset. Read moreSource§fn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if
self is actually part of its subset T (and can be converted to it).Source§fn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as
self.to_subset but without any property checks. Always succeeds.Source§fn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts
self to the equivalent element of its superset.