MeasurementModel

strapdown::filter

Trait MeasurementModel 

Source 
pub trait MeasurementModel {
    // Required methods
    fn get_dimension(&self) -> usize;
    fn get_vector(&self) -> DVector<f64>;
    fn get_noise(&self) -> DMatrix<f64>;
    fn get_sigma_points(
        &self,
        state_sigma_points: &DMatrix<f64>,
    ) -> DMatrix<f64>;
}
Expand description

Generic measurement model trait for all filters

Required Methods§

Source

fn get_dimension(&self) -> usize

Get the dimensionality of the measurement vector.

Source

fn get_vector(&self) -> DVector<f64>

Get the measurement vector

Source

fn get_noise(&self) -> DMatrix<f64>

Get the measurement noise covariance matrix

Source

fn get_sigma_points(&self, state_sigma_points: &DMatrix<f64>) -> DMatrix<f64>

Get the measurement sigma points, performs the mapping between the state space and the measurement space.

Implementors§