Struct SRUKF Localizer &nbsp; Copy item path

impl SRUKFLocalizer

pub fn new(config: SRUKFConfig) -> Self

Create a new SR-UKF localizer.

pub fn try_new(config: SRUKFConfig) -> RoboticsResult<Self>

Create a validated SR-UKF localizer.

pub fn with_initial_state(state: SRUKFState, config: SRUKFConfig) -> Self

Create with an initial state.

pub fn state_2d(&self) -> State2D

Return the current estimate as State2D.

Trait Implementations§

impl StateEstimator for SRUKFLocalizer

type State = Matrix<f64, Const<4>, Const<1>, ArrayStorage<f64, 4, 1>>

State type used by this estimator

type Measurement = Matrix<f64, Const<2>, Const<1>, ArrayStorage<f64, 2, 1>>

Measurement type used by this estimator

type Control = Matrix<f64, Const<2>, Const<1>, ArrayStorage<f64, 2, 1>>

Control input type

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

Prediction step

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

Update step with measurement

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

Get current state estimate

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

Get current covariance estimate (if applicable)

Auto Trait Implementations§

impl UnwindSafe for SRUKFLocalizer

Blanket Implementations§

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