Function fuse_models::common::scaleProcessNoiseCovariance

Function Documentation

inline void fuse_models::common::scaleProcessNoiseCovariance(fuse_core::Matrix8d &process_noise_covariance, const tf2_2d::Vector2 &velocity_linear, const double velocity_yaw, const double velocity_norm_min)

Scales the process noise covariance pose by the norm of the velocity.

Parameters:

  • process_noise_covariance – [inout] - The process noise covariance to scale. Only the pose components (x, y, yaw) are scaled, and they are assumed to be in the top left 3x3 corner

  • velocity_linear – [in] - The linear velocity

  • velocity_yaw – [in] - The yaw velocity

  • velocity_norm_min – [in] - The minimum velocity norm