# Class AngleStatistics

java.lang.Object
edu.wpi.first.math.estimator.AngleStatistics

```public final class AngleStatistics
extends Object```
• ## 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.

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.

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.