Function lupnt::GetFilterMeasurementFunction

• Defined in File filter_utils.cc

Function Documentation

FilterMeasurementFunction lupnt::GetFilterMeasurementFunction(const MeasurementFunction &f_meas)

Wrap a Jacobian-free MeasurementFunction into a FilterMeasurementFunction by computing its Jacobian H via autodiff (lupnt::jacobian).

Used by application setup code (e.g. example_adaptive.cc) to adapt a user-written measurement model f_meas(x, R) into the FilterMeasurementFunction signature expected by Filter::SetMeasurementFunction.

Parameters:

f_meas – Jacobian-free measurement function (x, R) -> z

Returns:

Equivalent FilterMeasurementFunction (x, H, R) -> z that also fills in the measurement Jacobian H via autodiff