Struct PntosStandardStateBlock

• Defined in File state_modeling.h

Struct Documentation

struct PntosStandardStateBlock

A description of a set of state estimates, associated covariances, and the states’ dynamics.

Public Members

PntosManagedMemory *memory

char *label

The unique name for this state block.

size_t num_states

The number of states represented by this state block.

void (*receive_aux_data)(struct PntosStandardStateBlock *self, PntosMessageArray *aux)

Receive and use an arbitrary collection of aux data. This method will be called by the fusion engine when its PntosStandardFusionEngine.give_state_block_aux_data is called with a label corresponding to this state blocks’ label.

PntosStandardDynamicsModel *(*generate_dynamics)(struct PntosStandardStateBlock *self, PntosGenXandP *gen_x_and_p_func, AspnTypeTimestamp time_from, AspnTypeTimestamp time_to)

Param gen_x_and_p_func

A callback function that the state block can use to get the current estimate and covariance.

Param time_from

The time to propagate from.

Param time_to

The time to propagate to.

Return

A complete description of how to propagate this state block forward in time. For simple models, this can simply return a set of static matrices that are pre-defined. Returns NULL if gen_x_and_p_func is invalid (for example, it returns NULL when given a valid array of state block labels). Will return NULL if time_from is later than time_to. Otherwise guaranteed to not return NULL.

struct PntosStandardStateBlock *(*clone)(struct PntosStandardStateBlock *self)