Emrys::PerPointCovariance Struct Reference

A covariance per point. More...

#include <EmrysFilter/Distributions/Conditionals.h>

Detailed Description

A covariance per point.

In a Rao-Blackwellized filter, each point's Gaussian over the rest of the state has its own covariance: for measurements whose Jacobian in the rest of the state depends on the point, such as one nonlinear in it. In PointGrid, each cell has its own covariance about its center, as cells of different sizes do; such a grid needs a PerPointCovariance filter.

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

• EmrysFilter/Distributions/Conditionals.h