Package edu.wpi.first.math.estimator

Class AngleStatistics

java.lang.Object

edu.wpi.first.math.estimator.AngleStatistics

public final class AngleStatistics
extends Object

Angle statistics functions.

Method Summary

Modifier and Type	Method	Description
static <S extends Num> BiFunction<Matrix<S,N1>,Matrix<S,N1>,Matrix<S,N1>>	angleAdd(int angleStateIdx)	Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.
static <S extends Num> Matrix<S,N1>	angleAdd(Matrix<S,N1> a, Matrix<S,N1> b, int angleStateIdx)	Adds a and b while normalizing the resulting value in the selected row as an angle.
static <S extends Num> BiFunction<Matrix<S,?>,Matrix<?,N1>,Matrix<S,N1>>	angleMean(int angleStateIdx)	Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.
static <S extends Num> Matrix<S,N1>	angleMean(Matrix<S,?> sigmas, Matrix<?,N1> Wm, int angleStateIdx)	Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.
static <S extends Num> BiFunction<Matrix<S,N1>,Matrix<S,N1>,Matrix<S,N1>>	angleResidual(int angleStateIdx)	Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.
static <S extends Num> Matrix<S,N1>	angleResidual(Matrix<S,N1> a, Matrix<S,N1> b, int angleStateIdx)	Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

angleResidual

public static <S extends Num> Matrix<S,N1> angleResidual(Matrix<S,N1> a,
 Matrix<S,N1> b,
 int angleStateIdx)

Subtracts a and b while normalizing the resulting value in the selected row as if it were an angle.

Type Parameters:

S - Number of rows in vector.

Parameters:

a - A vector to subtract from.

b - A vector to subtract with.

angleStateIdx - The row containing angles to be normalized.

Returns:

Difference of two vectors with angle at the given index normalized.

angleResidual

public static <S extends Num>
BiFunction<Matrix<S,N1>,Matrix<S,N1>,Matrix<S,N1>> angleResidual(int angleStateIdx)

Returns a function that subtracts two vectors while normalizing the resulting value in the selected row as if it were an angle.

Type Parameters:

S - Number of rows in vector.

Parameters:

angleStateIdx - The row containing angles to be normalized.

Returns:

Function returning difference of two vectors with angle at the given index normalized.

angleAdd

public static <S extends Num> Matrix<S,N1> angleAdd(Matrix<S,N1> a,
 Matrix<S,N1> b,
 int angleStateIdx)

Adds a and b while normalizing the resulting value in the selected row as an angle.

Type Parameters:

S - Number of rows in vector.

Parameters:

a - A vector to add with.

b - A vector to add with.

angleStateIdx - The row containing angles to be normalized.

Returns:

Sum of two vectors with angle at the given index normalized.

angleAdd

public static <S extends Num>
BiFunction<Matrix<S,N1>,Matrix<S,N1>,Matrix<S,N1>> angleAdd(int angleStateIdx)

Returns a function that adds two vectors while normalizing the resulting value in the selected row as an angle.

Type Parameters:

S - Number of rows in vector.

Parameters:

angleStateIdx - The row containing angles to be normalized.

Returns:

Function returning of two vectors with angle at the given index normalized.

angleMean

public static <S extends Num> Matrix<S,N1> angleMean(Matrix<S,?> sigmas,
 Matrix<?,N1> Wm,
 int angleStateIdx)

Computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Type Parameters:

S - Number of rows in sigma point matrix.

Parameters:

sigmas - Sigma points.

Wm - Weights for the mean.

angleStateIdx - The row containing the angles.

Returns:

Mean of sigma points.

angleMean

public static <S extends Num>
BiFunction<Matrix<S,?>,Matrix<?,N1>,Matrix<S,N1>> angleMean(int angleStateIdx)

Returns a function that computes the mean of sigmas with the weights Wm while computing a special angle mean for a select row.

Type Parameters:

S - Number of rows in sigma point matrix.

Parameters:

angleStateIdx - The row containing the angles.

Returns:

Function returning mean of sigma points.