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EKFSLAMState

rust_robotics_slam::ekf_slam

Struct EKFSLAMState 

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pub struct EKFSLAMState {
    pub x: DVector<f64>,
    pub p: DMatrix<f64>,
    pub n_lm: usize,
}
Expand description

EKF SLAM state State vector: [x, y, yaw, lm1_x, lm1_y, lm2_x, lm2_y, …]

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§x: DVector<f64>

State vector

§p: DMatrix<f64>

Covariance matrix

§n_lm: usize

Number of observed landmarks

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impl EKFSLAMState

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pub fn new() -> Self

Create a new EKF SLAM state

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pub fn get_robot_pose(&self) -> Vector3<f64>

Get robot pose [x, y, yaw]

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pub fn get_landmark(&self, idx: usize) -> Option<Vector2<f64>>

Get landmark position by index

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pub fn n_landmarks(&self) -> usize

Get number of landmarks

Trait Implementations§

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impl Default for EKFSLAMState

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fn default() -> Self

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

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