Enum PntosFusionType

Enum Documentation

enum PntosFusionType

An enumeration of the types of fusion that can be performed by pntOS. An implementation of a PntosFusionPlugin plugin will compare a model from this enum in its PntosFusionPlugin.is_fusion_type_supported function. The return of PntosFusionPlugin.is_fusion_type_supported indicates whether the input type of fusion engine matches the type that will be produced by PntosFusionPlugin.new_fusion_engine.

For example, suppose we have a variable PntosFusionPlugin* plugin. Then if the return value of plugin->is_fusion_type_supported(plugin, PNTOS_FUSION_STANDARD_MODEL) is true, then that means that plugin->new_fusion_engine(plugin) will return a PntosStandardFusionEngine*.

Values:

enumerator PNTOS_FUSION_STANDARD_MODEL

The standard model of fusion within pntOS. This model assumes that state estimates are representable in a jointly Gaussian state vector and that updates of the state vector contain only i.i.d. additive white Gaussian noise. See PntosStandardFusionEngine for more information.

enumerator PNTOS_FUSION_SAMPLED_MODEL

The sampled model of fusion within pntOS. This model assumes that state estimates are represented by discrete stochastic sample points of a probability density function (i.e. particles) and that propagate/update functions will receive these samples and be able to arbitrarily modify each particle’s weight, location, and add arbitrary noise to them.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.

enumerator PNTOS_FUSION_TIME_DELAYED_MODEL

The time delayed model of fusion within pntOS. This model assumes that information about a state is retained across different time epochs and that historical estimate data is available for processing current time data.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.

enumerator PNTOS_FUSION_STANDARD_COMPILED_MODEL

The standard model of fusion within pntOS, in compiled format. This model is identical to the standard model, with the exception that model information is not available in function pointers on the machine itself but instead binary blobs which have been pre-compiled. This mode is intended to facilitate usage in environments such as GPGPU filter implementations.

UNSTABLE: This feature is unstable and is not yet considered part of the stable pntOS API. Usage of this feature is highly discouraged in non-experimental code, and its definition may change at any time.