navlie.batch.residuals

A set of commonly-used residuals in batch estimation.

These residuals are

• the PriorResidual, to assign a prior estimate on the state,

• the ProcessResidual, which uses a navlie ProcessModel to compute an error between a predicted state and the actual state,

• a MeasurementResidual, which uses a navlie Measurement to compare a true measurement to the measurement predicted by the MeasurementModel.

Classes

MeasurementResidual(keys, measurement)	A generic measurement residual.
PriorResidual(keys, prior_state, ...)	A generic prior error.
ProcessResidual(keys, process_model, u)	A generic process residual.
Residual(keys)	Abstract class for a residual to be used in batch estimation.

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