Typedef PntosStandardStateModelProvider

Typedef Documentation

typedef struct PntosStandardStateModelProvider PntosStandardStateModelProvider

A collection of tools for modeling the propagation and innovation of state spaces using pntOS’ standard fusion model. Specifically, a PntosStandardStateModelProvider provides three types of tools:

  1. State Blocks - Define a set of states and a model for propagating those states

  2. Virtual State Blocks - Relate two statespaces to each other

  3. Measurement Processors - Relate measurements to a statespace

A PntosStandardStateModelProvider conceptually models a set of zero or more PntosStandardStateBlocks and a set of zero or more PntosStandardMeasurementProcessors which together model the phenomenology of sensor data that is being brought into a fusion engine. The first type, state blocks, describe how a set of states propagates forward through time. The second type, measurement processors, describe how a measurement relates to a set of state blocks.

Each PntosStandardStateModelProvider consists of factory methods which generate instances of the state blocks and measurement processors it provides. The PntosStandardStateModelProvider.new_block method is a factory method that returns a newly created state block on each invocation. Because the PntosStandardStateModelProvider can provide more than one kind of state block, the PntosStandardStateModelProvider.new_block method takes a block_index parameter which allows the user to request which kind of state block is created by the factory. The number of different kinds of state block this state model provider has is given by num_blocks. block_identifiers[i] gives a description of the ith kind of state block returned when block_index=i.

Similarly, PntosStandardStateModelProvider.new_processor is a factory method for returning new measurement processors, num_processors is the number of different kinds of measurement processors available in this state model provider, and processor_identifiers is a set of identifiers for each available kind of measurement processor that can be returned by the factory.