Function lupnt::StateTransitionMatrixPosVel

• Defined in File filter_utils.cc

Function Documentation

MatXd lupnt::StateTransitionMatrixPosVel(double dt, int n)

Build the constant-velocity position/velocity state-transition matrix Phi = [[I, dt*I], [0, I]] for n-dimensional position.

Used as the dynamics STM F (e.g. returned from a FilterDynamicsFunction) for simple constant-velocity filter models, such as in example_adaptive.cc.

Parameters:

• dt – Time step [s]

• n – Dimension of the position (and velocity) sub-state

Returns:

State-transition matrix, size [2n x 2n]