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License: Apache License 2.0
Kalman filters and other optimal and non-optimal estimation filters in Rust
License: Apache License 2.0
Eg with setup in Cargo.toml
, and using KalmanFilter
in a function or struct, so you can see how to assign the Traits. Would be much helpful.
Thank you for making this lovely port.
Eg: What do we set the traits to here? The first one appears to be the a float type of your choosing, and the others impl nalgebra::base::dimension::DimName
, but I'm not sure what types they should be specifically.
fn create(dt: f32) -> KalmanFilter<f32, ?, ?, ?> {
let mut kf = KalmanFilter::default();
kf.x = Vector2::new(7.0, 0.0); // initial state (pH, and dpH_dt)
kf.F = Matrix2::new( // state transition matrix
1.0, 1.0,
0.0, 1.0,
);
kf.H = Vector2::new(1.0, 0.0).transpose(); // Measurement function
kf.P *= 3.0; // covariance matrix
kf.R = Matrix1::new(0.01); // state uncertainty, ie measurement noise
kf.Q = Matrix2::repeat(STD.powi(2));
kf
}
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