EmrysFilter 0.1.0
State estimation utilities in C++23 using Eigen
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Emrys::CountFrom< Path, MeasurementSpace > Struct Template Reference
Models

The measurement space function of a model whose measurement has a block of MeasurementSpace per repetition of the state's block Path, given to outputSpace() (decisions.md [measurement-space-functions]). More...

#include <EmrysFilter/Models/MeasurementModel.h>

Public Member Functions

template<Space StateSpace>
MeasurementSpace operator() (StateSpace const &space) const

Detailed Description

template<typename Path, Space MeasurementSpace>
struct Emrys::CountFrom< Path, MeasurementSpace >

The measurement space function of a model whose measurement has a block of MeasurementSpace per repetition of the state's block Path, given to outputSpace() (decisions.md [measurement-space-functions]).

Called with the state's space, it returns a MeasurementSpace whose one resizable block has the count of the one resizable block of the block Path (a tag or a TagPath) names: a Repeated block's count(), or a resizable coordinate's coordinates. The model need not read the block. A count is never inferred from the blocks a model reads (decisions.md [several-resizable-blocks]); a measurement sized otherwise takes a function of its own.

struct RangeBearings : Repeated<RangeBearing, 32> {};
auto const ranging = measurementModel(h, reads(path<Landmarks>, path<Pose>),
outputSpace(CountFrom<Landmarks, RangeBearings>{}),
additiveNoise(onEach<RangeBearings>(r)));
Emrys::Repeated
A fixed-size Block repeated count() times, up to MaxCount_, such as one block per vehicle.
Definition Composite.h:416
Emrys::additiveNoise
AdditiveNoise< typename internal::HeldOf< std::unwrap_ref_decay_t< Parts > >::type... > additiveNoise(Parts &&... parts)
Definition Policies.h:523
Emrys::onEach
auto onEach(Model const &model, Renames const &...)
Definition Placement.h:1138
Emrys::outputSpace
OutputSpace< std::remove_cvref_t< X > > outputSpace(X &&x)
Definition Policies.h:718
Emrys::reads
auto reads(Items const &...)
Definition Policies.h:196
Emrys::measurementModel
auto measurementModel(F &&function, Policies &&... policies)
Definition MeasurementModel.h:913
Emrys::path
constexpr TagPath< Tags... > path
The path TagPath<Tags...> as a value, for a call that takes its paths as arguments rather than as tem...
Definition TagPath.h:372
Emrys::CountFrom
The measurement space function of a model whose measurement has a block of MeasurementSpace per repet...
Definition MeasurementModel.h:104
Template Parameters
Paththe path to the state's block whose count the measurement takes
MeasurementSpacethe measurement space, with one resizable block

Member Function Documentation

◆ operator()()

template<typename Path, Space MeasurementSpace>
template<Space StateSpace>
MeasurementSpace Emrys::CountFrom< Path, MeasurementSpace >::operator() ( StateSpace const & space) const
inlinenodiscard
Returns
the measurement space for the state's space space
The documentation for this struct was generated from the following file: