Autoware.Auto
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Classes | |
class | Index |
A functor to compute an index in the data array. More... | |
Functions | |
const geometry_msgs::msg::PoseWithCovariance & | unstamp (const geometry_msgs::msg::PoseWithCovarianceStamped &msg) |
const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped & | unstamp (const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped &msg) |
template<std::int32_t kNumOfStates> | |
bool | passes_mahalanobis_gate (const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &sample, const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &mean, const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > &covariance, const common::types::float32_t mahalanobis_threshold) |
bool autoware::common::state_estimation::detail::passes_mahalanobis_gate | ( | const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > & | sample, |
const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > & | mean, | ||
const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > & | covariance, | ||
const common::types::float32_t | mahalanobis_threshold | ||
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Check if the sample passes the Mahalanobis gate.
[in] | sample | The input sample |
[in] | mean | The mean to be compared against |
[in] | covariance | Covariance around the given mean |
[in] | mahalanobis_threshold | The mahalanobis threshold factor |
kNumOfStates | Number of states in the state vector. |
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