Struct Residual

pub struct Residual<M>
where
    M: DimName,
    DefaultAllocator: Allocator<M>,
{
    pub epoch: Epoch,
    pub prefit: OVector<f64, M>,
    pub postfit: OVector<f64, M>,
    pub ratio: f64,
    pub tracker_msr_noise: OVector<f64, M>,
    pub rejected: bool,
    pub tracker: Option<String>,
    pub msr_types: IndexSet<MeasurementType>,
}

Stores an Estimate, as the result of a time_update or measurement_update.

Fields

epoch: Epoch

Date time of this Residual

prefit: OVector<f64, M>

The prefit residual in the units of the measurement type

postfit: OVector<f64, M>

The postfit residual in the units of the measurement type

ratio: f64

The prefit residual ratio computed as the Mahalanobis distance, i.e. it is always positive and computed as r' * (H*P*H')^-1 * r, where r is the prefit residual, H is the sensitivity matrix, and P is the covariance matrix. To assess the performance, look at the Chi Square distribution for the number of measurements, e.g. 2 for range and range-rate.

tracker_msr_noise: OVector<f64, M>

The tracker measurement noise (variance)) for this tracker at this time.

rejected: bool

Whether or not this was rejected

tracker: Option<String>

Name of the tracker that caused this residual

msr_types: IndexSet<MeasurementType>

Measurement types used to compute this residual (in order)

Implementations

impl<M> Residual<M>

where M: DimName, DefaultAllocator: Allocator<M>,

pub fn zeros() -> Self

An empty estimate. This is useful if wanting to store an estimate outside the scope of a filtering loop.

pub fn rejected( epoch: Epoch, prefit: OVector<f64, M>, ratio: f64, tracker_msr_covar: OVector<f64, M>, ) -> Self

Flags a Residual as rejected.

pub fn accepted( epoch: Epoch, prefit: OVector<f64, M>, postfit: OVector<f64, M>, ratio: f64, tracker_msr_covar: OVector<f64, M>, ) -> Self

pub fn prefit(&self, msr_type: MeasurementType) -> Option<f64>

Returns the prefit for this measurement type, if available

pub fn postfit(&self, msr_type: MeasurementType) -> Option<f64>

Returns the postfit for this measurement type, if available

pub fn trk_noise(&self, msr_type: MeasurementType) -> Option<f64>

Returns the tracker noise for this measurement type, if available

Trait Implementations

impl<M> Clone for Residual<M>

where M: DimName + Clone, DefaultAllocator: Allocator<M>,

fn clone(&self) -> Residual<M>

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<M> Debug for Residual<M>

where M: DimName + Debug, DefaultAllocator: Allocator<M>,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<M> Display for Residual<M>

where M: DimName, DefaultAllocator: Allocator<M>,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<M> LowerExp for Residual<M>

where M: DimName, DefaultAllocator: Allocator<M>,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<M> PartialEq for Residual<M>

where M: DimName + PartialEq, DefaultAllocator: Allocator<M>,

fn eq(&self, other: &Residual<M>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<M> StructuralPartialEq for Residual<M>

where M: DimName, DefaultAllocator: Allocator<M>,