Typedef lupnt::MeasurementFunction

• Defined in File filter.h

Typedef Documentation

typedef std::function<VecXd(const State &x, MatXd *R)> lupnt::MeasurementFunction

Function signature for predicting a measurement from the current state and computing its noise covariance R, without a Jacobian.

Wrapped into a FilterMeasurementFunction (which additionally produces the Jacobian via autodiff) by GetFilterMeasurementFunction.

Param x:

Current state estimate

Param R:

Output measurement noise covariance, size [n_z x n_z]

Return:

Predicted measurement vector, size [n_z]