Struct State_With_Covariance
Defined in File steering_functions.hpp
Struct Documentation
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struct State_With_Covariance
Description of a kinematic car’s state with covariance.
Public Members
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double Sigma[16] = {0.0}
Covariance of the state estimation due to motion and measurement noise.
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double Lambda[16] = {0.0}
Covariance of the state estimate due to the absence of measurements.
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double covariance[16] = {0.0}
Covariance of the state given by Sigma + Lambda: (x_x x_y x_theta x_kappa y_x y_y y_theta y_kappa theta_x theta_y theta_theta theta_kappa kappa_x kappa_y kappa_theta kappa_kappa)
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double Sigma[16] = {0.0}