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StateEstimator

rust_robotics_core::traits

Trait StateEstimator 

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pub trait StateEstimator {
    type State;
    type Measurement;
    type Control;

    // Required methods
    fn predict(&mut self, control: &Self::Control, dt: f64);
    fn update(&mut self, measurement: &Self::Measurement);
    fn get_state(&self) -> &Self::State;

    // Provided method
    fn get_covariance(&self) -> Option<&DMatrix<f64>> { ... }
}
Expand description

Trait for state estimation algorithms (EKF, UKF, Particle Filter, etc.)

Required Associated Types§

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type State

State type used by this estimator

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type Measurement

Measurement type used by this estimator

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type Control

Control input type

Required Methods§

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fn predict(&mut self, control: &Self::Control, dt: f64)

Prediction step

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fn update(&mut self, measurement: &Self::Measurement)

Update step with measurement

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fn get_state(&self) -> &Self::State

Get current state estimate

Provided Methods§

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fn get_covariance(&self) -> Option<&DMatrix<f64>>

Get current covariance estimate (if applicable)

Implementors§