Function lupnt::StateTransitionMatrixPosVelAcc¶

Defined in File filter_utils.cc

Function Documentation¶

MatXd lupnt::StateTransitionMatrixPosVelAcc(double dt, const VecXd &beta)¶

Build the position/velocity/acceleration state-transition matrix for a first-order Gauss-Markov acceleration model with inverse time constants beta, combining the constant-velocity block (StateTransitionMatrixPosVel) with the exponential acceleration decay and its position/velocity coupling terms.

Used as the dynamics STM F for filter models that include a Gauss-Markov acceleration state (ADMC), such as in example_adaptive.cc.

Parameters:

dt – Time step [s]
beta – Gauss-Markov inverse time constants per acceleration component, size [n]

Returns:

State-transition matrix, size [3n x 3n]