osvr::kalman::SigmaPointParameters Struct Reference

#include </home/jenkins/root/workspace/OSVR-Core-Docs/plugins/unifiedvideoinertialtracker/SigmaPointGenerator.h>

Public Member Functions
	SigmaPointParameters (double alpha_=0.001, double beta_=2., double kappa_=0.)

Public Attributes
double	alpha
double	beta
double	kappa

Detailed Description

For further details on the scaling factors, refer to: Julier, S. J., & Uhlmann, J. K. (2004). Unscented filtering and nonlinear estimation. Proceedings of the IEEE, 92(3), 401–422. http://doi.org/10.1109/JPROC.2003.823141 Appendix V (for alpha), Appendix VI (for beta)

Definition at line 49 of file SigmaPointGenerator.h.

Member Data Documentation

double osvr::kalman::SigmaPointParameters::alpha

double L; Primary scaling factor, typically in the range [1e-4, 1]

Definition at line 55 of file SigmaPointGenerator.h.

double osvr::kalman::SigmaPointParameters::beta

Secondary scaling to emphasize the 0th sigma point in covariance weighting - 2 is optimal for gaussian distributions

Definition at line 58 of file SigmaPointGenerator.h.

double osvr::kalman::SigmaPointParameters::kappa

Tertiary scaling factor, typically 0. Some authors recommend parameter estimation to use L - 3

Definition at line 61 of file SigmaPointGenerator.h.

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

• plugins/unifiedvideoinertialtracker/SigmaPointGenerator.h