Struct adskalman::StateAndCovariance

pub struct StateAndCovariance<R, SS>
where
    R: RealField,
    SS: DimName,
    DefaultAllocator: Allocator<R, SS, SS> + Allocator<R, SS>,
{ /* private fields */ }

State and covariance pair for a given estimate

Implementations

impl<R, SS> StateAndCovariance<R, SS>

where R: RealField, SS: DimName, DefaultAllocator: Allocator<R, SS, SS> + Allocator<R, SS>,

pub fn new(state: OVector<R, SS>, covariance: OMatrix<R, SS, SS>) -> Self

Create a new StateAndCovariance.

It is assumed that the covariance matrix is symmetric and positive semi-definite.

pub fn state(&self) -> &OVector<R, SS>

Get a reference to the state vector.

pub fn state_mut(&mut self) -> &mut OVector<R, SS>

Get a mut reference to the state vector.

pub fn covariance(&self) -> &OMatrix<R, SS, SS>

Get a reference to the covariance matrix.

pub fn covariance_mut(&mut self) -> &mut OMatrix<R, SS, SS>

Get a mutable reference to the covariance matrix.

pub fn inner(self) -> (OVector<R, SS>, OMatrix<R, SS, SS>)

Get the state vector and covariance matrix.

Trait Implementations

impl<R, SS> Clone for StateAndCovariance<R, SS>

where R: RealField + Clone, SS: DimName + Clone, DefaultAllocator: Allocator<R, SS, SS> + Allocator<R, SS>,

fn clone(&self) -> StateAndCovariance<R, SS>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<R, SS> Debug for StateAndCovariance<R, SS>

where R: RealField + Debug, SS: DimName + Debug, DefaultAllocator: Allocator<R, SS, SS> + Allocator<R, SS>,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.