vulcan::estimation::MeasurementNoise< M > Struct Template Reference

Measurement noise specification. More...

#include <EstimationTypes.hpp>

Public Member Functions
	MeasurementNoise ()
	Default constructor - zero noise.
	MeasurementNoise (const Eigen::Matrix< double, M, M > &covariance)
	Constructor with covariance matrix.

Static Public Member Functions
static MeasurementNoise< M >	diagonal (const Eigen::Matrix< double, M, 1 > &variances)
	Create diagonal measurement noise from variance vector.
static MeasurementNoise< M >	scalar (double variance)
	Create scalar (isotropic) measurement noise.

Public Attributes
Eigen::Matrix< double, M, M >	R
	Measurement noise covariance.

Detailed Description

template<int M>
struct vulcan::estimation::MeasurementNoise< M >

Measurement noise specification.

Wraps measurement noise covariance matrix R for clarity in API.

Template Parameters

M	Measurement dimension

Constructor & Destructor Documentation

MeasurementNoise() [1/2]

template<int M>

vulcan::estimation::MeasurementNoise< M >::MeasurementNoise ( )

inline

Default constructor - zero noise.

MeasurementNoise() [2/2]

template<int M>

vulcan::estimation::MeasurementNoise< M >::MeasurementNoise ( const Eigen::Matrix< double, M, M > & covariance )

inlineexplicit

Constructor with covariance matrix.

Member Function Documentation

diagonal()

template<int M>

MeasurementNoise< M > vulcan::estimation::MeasurementNoise< M >::diagonal ( const Eigen::Matrix< double, M, 1 > & variances )

inlinestatic

Create diagonal measurement noise from variance vector.

scalar()

template<int M>

MeasurementNoise< M > vulcan::estimation::MeasurementNoise< M >::scalar ( double variance )

inlinestatic

Create scalar (isotropic) measurement noise.

Member Data Documentation

R

template<int M>

Eigen::Matrix<double, M, M> vulcan::estimation::MeasurementNoise< M >::R

Measurement noise covariance.

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

• include/vulcan/estimation/EstimationTypes.hpp