OSVR-Core
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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... | |
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)
double osvr::kalman::SigmaPointParameters::kappa |
Tertiary scaling factor, typically 0.
Some authors recommend parameter estimation to use L - 3