Expand description
Localization algorithms for the RustRobotics workspace.
With default features disabled this crate is no_std (plus alloc) and
the Kalman-family filters (EKF, IEKF, UKF, CKF, SR-UKF, information,
complementary, histogram, adaptive) build for bare-metal targets such as
thumbv7em-none-eabihf. The sampling-based localizers (particle filter,
Monte Carlo localization, ensemble KF) need std for random number
generation.
Re-exports§
pub use ekf::EKFConfig;pub use ekf::EKFControl;pub use ekf::EKFLocalizer;pub use ekf::EKFMeasurement;pub use ekf::EKFState;pub use histogram_filter::GridMap;pub use histogram_filter::HistogramFilter;pub use monte_carlo_localization::MCLControl;pub use monte_carlo_localization::MCLMeasurement;pub use monte_carlo_localization::MCLState;pub use monte_carlo_localization::MonteCarloLocalizationConfig;pub use monte_carlo_localization::MonteCarloLocalizer;pub use particle_filter::PFControl;pub use particle_filter::PFMeasurement;pub use particle_filter::PFState;pub use particle_filter::Particle;pub use particle_filter::ParticleFilterConfig;pub use particle_filter::ParticleFilterLocalizer;pub use unscented_kalman_filter::UKFConfig;pub use unscented_kalman_filter::UKFControl;pub use unscented_kalman_filter::UKFLocalizer;pub use unscented_kalman_filter::UKFMeasurement;pub use unscented_kalman_filter::UKFParams;pub use unscented_kalman_filter::UKFState;pub use unscented_kalman_filter::UKFWeights;
Modules§
- adaptive_
filter - Adaptive localization filter
- complementary_
filter - Complementary Filter for sensor fusion
- cubature_
kalman_ filter - Cubature Kalman Filter (CKF) localization
- ekf
- Extended Kalman Filter (EKF) localization
- ensemble_
kalman_ filter - Ensemble Kalman Filter (EnKF) localization
- experiments
- histogram_
filter - Histogram Filter 2D Localization
- information_
filter - Information Filter (IF) localization
- iterated_
ekf - Iterated Extended Kalman Filter (IEKF) localization
- monte_
carlo_ localization - Adaptive Monte Carlo Localization (MCL) with KLD-sampling.
- particle_
filter - Particle Filter (PF) localization
- square_
root_ ukf - Square Root Unscented Kalman Filter (SR-UKF) localization
- unscented_
kalman_ filter - Unscented Kalman Filter (UKF) localization