Template Function fuse_core::getCovarianceDiagonalParam

Function Documentation

template<int Size, typename Scalar = double>
fuse_core::Matrix<Scalar, Size, Size> fuse_core::getCovarianceDiagonalParam(node_interfaces::NodeInterfaces<node_interfaces::Logging, node_interfaces::Parameters> interfaces, const std::string &parameter_name, Scalar default_value)

Helper function that loads a covariance matrix diagonal vector from the parameter server and checks the size and the values are invalid, i.e. they are positive.

Template Parameters:

  • Scalar – - A scalar type, defaults to double

  • Size – - An int size that specifies the expected size of the covariance matrix (rows and columns)

Parameters:

  • interfaces – [in] - The node interfaces used to load the parameter

  • parameter_name – [in] - The parameter name to load

  • default_value – [in] - A default value to use for all the diagonal elements if the provided parameter name does not exist

Returns:

The loaded (or default) covariance matrix, generated from the diagonal vector