Module square_root_ukf 

Square Root Unscented Kalman Filter (SR-UKF) localization

SR-UKF propagates the Cholesky factor of covariance for improved numerical stability.

Structs

SRUKFConfig

Configuration for SR-UKF localizer.

SRUKFLocalizer

Square Root Unscented Kalman Filter localizer.

Type Aliases

SRUKFControl

Control input (velocity, yaw rate)

SRUKFMeasurement

Measurement representation (x, y)

SRUKFState

State representation for SR-UKF (x, y, yaw, velocity)