OSVR-Core
Public Member Functions | Public Attributes | List of all members
osvr::kalman::SigmaPointParameters Struct Reference

For further details on the scaling factors, refer to: Julier, S. More...

#include <SigmaPointGenerator.h>

Public Member Functions

 SigmaPointParameters (double alpha_=0.001, double beta_=2., double kappa_=0.)
 

Public Attributes

double alpha
 double L; Primary scaling factor, typically in the range [1e-4, 1]
 
double beta
 Secondary scaling to emphasize the 0th sigma point in covariance weighting - 2 is optimal for gaussian distributions.
 
double kappa
 Tertiary scaling factor, typically 0. More...
 

Detailed Description

For further details on the scaling factors, refer to: Julier, S.

J., & Uhlmann, J. K. (2004). Unscented filtering and nonlinear estimation. Proceedings of the IEEE, 92(3), 401–422. http://doi.org/10.1109/JPROC.2003.823141 Appendix V (for alpha), Appendix VI (for beta)

Member Data Documentation

§ kappa

double osvr::kalman::SigmaPointParameters::kappa

Tertiary scaling factor, typically 0.

Some authors recommend parameter estimation to use L - 3


The documentation for this struct was generated from the following file: