Typedef lupnt::MeasurementModelFunction

• Defined in File batch_filter.h

Typedef Documentation

using lupnt::MeasurementModelFunction = std::function<std::pair<VecXd, MatXd>(const VecXd&, int)>

Measurement model function type.

Takes current state estimate and measurement index, returns predicted measurement and Jacobian

Param state:

Current state estimate [n_state]

Param meas_idx:

Index of measurement to predict

Return:

std::pair<VecXd, MatXd> (predicted_measurement [n_meas], jacobian [n_meas x n_state])