Template Function fuse_core::getCovarianceDiagonalParam
Defined in File parameter.hpp
Function Documentation
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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 ¶meter_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