Struct EkfTrigger

pub struct EkfTrigger {
    pub num_msrs: usize,
    pub disable_time: Duration,
    pub within_sigma: f64,
    /* private fields */
}

An EkfTrigger on the number of measurements processed and a time between measurements.

Fields

num_msrs: usize

disable_time: Duration

within_sigma: f64

Set to the sigma number needed to switch to the EKF (cf. 68–95–99.7 rule). If number is negative, this is ignored.

Implementations

impl EkfTrigger

pub fn new(num_msrs: usize, disable_time: Duration) -> Self

pub fn enable_ekf<T: State, E>(&mut self, est: &E) -> bool

where E: Estimate<T>, DefaultAllocator: Allocator<<T as State>::Size> + Allocator<<T as State>::VecLength> + Allocator<<T as State>::Size, <T as State>::Size>,

pub fn disable_ekf(&mut self, epoch: Epoch) -> bool

pub fn set_inhibit(&mut self, inhibit: bool)

pub fn reset(&mut self)