ossia::kalman_point_filter< N > Struct Template Reference

N independent position-velocity Kalman filters: a tracked N-D point. More...

Detailed Description

template<std::size_t N>
struct ossia::kalman_point_filter< N >

N independent position-velocity Kalman filters: a tracked N-D point.

[pos, vel] state per axis (so 4 states in 2D, 6 in 3D), isotropic noise.

Public Member Functions
OSSIA_INLINE void	initiate (const std::array< float, N > &p0, float var_p, float var_v) noexcept
OSSIA_INLINE void	predict (float dt, float sigma_a) noexcept
	Propagate dt seconds forward with acceleration noise sigma_a.
OSSIA_INLINE void	update (const std::array< float, N > &z, float r) noexcept
	Fold in a position measurement with isotropic variance r.
OSSIA_INLINE float	gating_distance2 (const std::array< float, N > &z, float r) const noexcept
	Squared Mahalanobis distance, chi-square with N DOF.
OSSIA_INLINE std::array< float, N >	position () const noexcept
OSSIA_INLINE std::array< float, N >	velocity () const noexcept
OSSIA_INLINE void	set_velocity (const std::array< float, N > &v) noexcept

Public Attributes
std::array< kalman_pv_filter, N >	axes {}