Typedef PntosStandardFusionEngine

Typedef Documentation

typedef struct PntosStandardFusionEngine PntosStandardFusionEngine

An implementation of a fusion engine that supports the standard fusion model.

Assumes the system is described by discrete-time matrices and noise inputs are zero-mean white Gaussian. In addition, all covariance matrices / mean vectors are descriptions of jointly-Gaussian multivariate distributions. All noise sources are jointly-Gaussian distributed.

This object requires a PntosStandardFusionStrategy to work. Some implementations may be able to provide their own. Others will require a strategy to be provided via the PntosStandardFusionEngine.set_strategy method. It is possible to check whether a fusion engine needs to be provided a fusion strategy by calling the PntosStandardFusionEngine.get_strategy method (if the return is NULL then this fusion engine needs to be provided a strategy). While PntosStandardFusionEngine.get_strategy returns NULL, all other methods are unsafe to be called.

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.