OpenKalman::UnscentedParametersStateEstimation Struct Reference

Unscented parameters for use in state estimation (the default). More...

#include <Unscented.hpp>

Static Public Attributes
static constexpr double	alpha = 0.001
	Scaling factor (typically 0.001 but may be from 0.0001 to 1).
static constexpr double	beta = 2.0
	Factor to compensate for the distribution (beta==2 is optimal for Gaussian distributions).
template<std::size_t dim>
static constexpr double	kappa = 0.0
	Secondary scaling parameter. More...

Detailed Description

Unscented parameters for use in state estimation (the default).

Member Data Documentation

kappa

template<std::size_t dim>

constexpr double OpenKalman::UnscentedParametersStateEstimation::kappa = 0.0

static

Secondary scaling parameter.

Usually 0 for state estimation and 3-dim for parameter estimation. This makes it possible to match some of the fourth-order terms when the distribution is Gaussian.

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The documentation for this struct was generated from the following file:

• OpenKalman/transforms/sample-points/Unscented.hpp