Function fuse_models::common::populatePartialMeasurement

• Defined in File sensor_proc.hpp

Function Documentation

inline void fuse_models::common::populatePartialMeasurement(const fuse_core::VectorXd &mean_full, const fuse_core::MatrixXd &covariance_full, const std::vector<size_t> &indices, fuse_core::VectorXd &mean_partial, fuse_core::MatrixXd &covariance_partial)

Method to create sub-measurements from full measurements and append them to existing partial measurements.

Parameters:

• mean_full – [in] - The full mean vector from which we will generate the sub-measurement

• covariance_full – [in] - The full covariance matrix from which we will generate the sub- measurement

• indices – [in] - The indices we want to include in the sub-measurement

• mean_partial – [inout] - The partial measurement mean to which we want to append

• covariance_partial – [inout] - The partial measurement covariance to which we want to append