Template Class GainMatrixUpdater¶
Defined in File GainMatrixUpdater.hpp
Class Documentation¶
-
template<typename
parameters_t
>
classActs
::
GainMatrixUpdater
¶ Update step of Kalman Filter using gain matrix formalism.
- Template Parameters
parameters_t
: Type of the parameters to be filteredjacobian_t
: Type of the Transport jacobian
Public Functions
Explicit constructor.
- Parameters
calibrator
: is the calibration struct/class that converts uncalibrated measurements into calibrated oneslogger
: a logger instance
Public call operator for the boost visitor pattern.
- Return
Bool indicating whether this update was ‘successful’
- Note
Non-‘successful’ updates could be holes or outliers, which need to be treated differently in calling code.
- Template Parameters
track_state_t
: Type of the track state for the update
- Parameters
gctx
: The current geometry context object, e.g. alignmenttrackState
: the measured track statedirection
: the navigation direction