Emrys::reductions Namespace Reference

The reduction policies, each made by its factory (decisions.md [policy-factories], [reduction-policies]): collapse(), select(), keep(), and gate(). More...

Classes
struct	Collapse
	Reduction policy that moment-matches an update's branches into one Gaussian: soft outlier rejection, as in the probabilistic data association of Bar-Shalom and Tse (1975). More...
struct	Select
	Reduction policy that keeps the most probable branch: hard rejection by comparing the noise components with each other. More...
struct	Keep
	Reduction policy that keeps every branch, each added to the filter's output with its own posterior probability (see ReductionPolicy). More...
class	Gate
	Reduction policy that rejects branches by a chi-squared test on their normalized innovation squared, then reduces the rest with Inner. More...

Functions
constexpr Collapse	collapse ()
constexpr Select	select ()
constexpr Keep	keep ()
template<typename Value, typename Inner = Collapse> requires std::is_arithmetic_v<Value>
Gate< Inner, internal::DeducedScalar< Value > >	gate (Value probability, Inner inner={})
template<RealScalar Scalar, typename Inner = Collapse>
Gate< Inner, Scalar >	gate (NisThreshold< Scalar > threshold, Inner inner={})

Detailed Description

The reduction policies, each made by its factory (decisions.md [policy-factories], [reduction-policies]): collapse(), select(), keep(), and gate().

The types beside them name a policy where a type is needed.