State Estimation Constants Library¶
This library defines the compile-time configurations for the tam_state_estimation library. Each configuration is a struct that fixes the state, input and measurement layout of a filter variant at compile time and is passed to the templated classes as a template parameter.
| Config | Description |
|---|---|
KF_BASE |
Shared base constants (number of sensors per modality, vector layouts) all filter configs build upon. |
EKF_2D |
2D EKF: state vector \([X_m, Y_m, \psi, v_x, v_y]\), IMU input vector \([\omega_z, a_x, a_y]\). |
EKF_3D |
3D EKF: state vector \([X_m, Y_m, Z_m, \phi, \theta, \psi, v_x, v_y, v_z]\), IMU input vector \([\omega_x, \omega_y, \omega_z, a_x, a_y, a_z]\). |