occ::core::KalmanEstimator Struct Reference

#include <kalman_estimator.h>

Public Member Functions
void	update (double measurement, double now)
double	estimate_remaining (double total) const
void	adjust_noise (double process_noise, double measurement_noise)
const auto &	state () const
const auto &	covariance () const
double	time_uncertainty (double total) const

Public Attributes
Vec2	x {Vec2::Zero()}
Mat2	P {Mat2::Identity() * 1000.0}
Mat2	Q {Mat2::Identity() * 0.1}
double	R {1.0}
double	last_update {0.0}
bool	initialized {false}

Member Function Documentation

adjust_noise()

void occ::core::KalmanEstimator::adjust_noise	(	double	process_noise,
		double	measurement_noise
	)

covariance()

const auto & occ::core::KalmanEstimator::covariance ( ) const

inline

estimate_remaining()

double occ::core::KalmanEstimator::estimate_remaining

(

double

total

)

const

state()

const auto & occ::core::KalmanEstimator::state ( ) const

inline

time_uncertainty()

double occ::core::KalmanEstimator::time_uncertainty

(

double

total

)

const

update()

void occ::core::KalmanEstimator::update	(	double	measurement,
		double	now
	)

Member Data Documentation

initialized

bool occ::core::KalmanEstimator::initialized {false}

last_update

double occ::core::KalmanEstimator::last_update {0.0}

P

Mat2 occ::core::KalmanEstimator::P {Mat2::Identity() * 1000.0}

Q

Mat2 occ::core::KalmanEstimator::Q {Mat2::Identity() * 0.1}

R

double occ::core::KalmanEstimator::R {1.0}

x

Vec2 occ::core::KalmanEstimator::x {Vec2::Zero()}

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The documentation for this struct was generated from the following file:

• /home/runner/work/occ/occ/include/occ/core/kalman_estimator.h