Struct InertialFilterConfig

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pub struct InertialFilterConfig {
    pub imu_spec: ImuSpec,
    pub filter_kind: FusionFilterKind,
    pub imu_model: ImuErrorModel,
    pub imu_to_body_dcm: [[f64; 3]; 3],
    pub mechanization: MechanizationConfig,
    pub loose: LooseCouplingConfig,
    pub tight: TightCouplingConfig,
    pub ukf_update_options: UkfUpdateOptions,
}

Expand description

Configuration for an InertialFilter.

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§imu_spec: ImuSpec

IMU stochastic model used for covariance prediction.

§filter_kind: FusionFilterKind

Measurement-update algorithm used by loose and tight GNSS updates.

§imu_model: ImuErrorModel

Deterministic IMU calibration applied before mechanization.

§imu_to_body_dcm: [[f64; 3]; 3]

Direction cosine matrix rotating IMU sensor axes into vehicle body axes.

Bias and scale-factor error states remain resolved in IMU axes; corrected samples are rotated into body axes before mechanization and covariance prediction.

§mechanization: MechanizationConfig

Strapdown mechanization options.

§loose: LooseCouplingConfig

Loose GNSS update options.

§tight: TightCouplingConfig

Tight raw GNSS update options.

§ukf_update_options: UkfUpdateOptions

UKF correction options used when Self::filter_kind is FusionFilterKind::Ukf.

Implementations§

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impl InertialFilterConfig

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pub fn new(imu_spec: ImuSpec) -> Result<InertialFilterConfig, FusionError>

Build a filter configuration with default calibration and loose settings.

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

Validate IMU, mechanization, and loose-coupling settings.

Trait Implementations§

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impl Clone for InertialFilterConfig

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fn clone(&self) -> InertialFilterConfig

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 Copy for InertialFilterConfig

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impl Debug for InertialFilterConfig

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

Formats the value using the given formatter. Read more

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impl PartialEq for InertialFilterConfig

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

Equality operator ==. Read more

1.0.0 (const: unstable) · Source§

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

Inequality operator !=. Read more

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impl StructuralPartialEq for InertialFilterConfig

Auto Trait Implementations§

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impl UnwindSafe for InertialFilterConfig

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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