Struct StateAndCovariance 

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

State and covariance pair for a given estimate

Implementations

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

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

pub fn new( state: Vector<R, SS, Owned<R, SS>>, covariance: Matrix<R, SS, SS, Owned<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) -> &Vector<R, SS, Owned<R, SS>>

Get a reference to the state vector.

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

Get a mut reference to the state vector.

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

Get a reference to the covariance matrix.

pub fn covariance_mut(&mut self) -> &mut Matrix<R, SS, SS, Owned<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: Dim + Clone, DefaultAllocator: Allocator<SS> + Allocator<SS, SS>,

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

Returns a duplicate 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: Dim + Debug, DefaultAllocator: Allocator<SS> + Allocator<SS, SS>,

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

Formats the value using the given formatter.