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IEKFConfig

rust_robotics_localization::iterated_ekf

Struct IEKFConfig 

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pub struct IEKFConfig {
    pub q: Matrix4<f64>,
    pub r: Matrix2<f64>,
    pub max_iterations: usize,
    pub tolerance: f64,
}
Expand description

Configuration for IEKF

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§q: Matrix4<f64>

Process noise covariance matrix

§r: Matrix2<f64>

Measurement noise covariance matrix

§max_iterations: usize

Maximum number of linearization iterations in the update step

§tolerance: f64

Convergence tolerance for the iteration (norm of state change)

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impl IEKFConfig

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pub fn validate(&self) -> RoboticsResult<()>

Validate that the configuration is numerically sane.

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impl Clone for IEKFConfig

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fn clone(&self) -> IEKFConfig

Returns a duplicate of the value. Read more
1.0.0 · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for IEKFConfig

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

Formats the value using the given formatter. Read more
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impl Default for IEKFConfig

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fn default() -> Self

Returns the “default value” for a type. Read more

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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