Public Member Functions
template<unsigned int DEGREE_OF_FREEDOM>
bool	rejectData (Eigen::Matrix< double, DEGREE_OF_FREEDOM, 1 > innovation, Eigen::Matrix< double, DEGREE_OF_FREEDOM, DEGREE_OF_FREEDOM > innovation_covariance, float threshold)

Member Function Documentation

◆ rejectData()

template<unsigned int DEGREE_OF_FREEDOM>

bool pose_ekf::ChiSquared::rejectData	(	Eigen::Matrix< double, DEGREE_OF_FREEDOM, 1 >	innovation,
		Eigen::Matrix< double, DEGREE_OF_FREEDOM, DEGREE_OF_FREEDOM >	innovation_covariance,
		float	threshold
	)

inline

Uses the Chi_Square distribution under gaussion assumptions to reject or not an innovation

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