navlie.filters.generate_sigmapoints

navlie.filters.generate_sigmapoints(dof: int, method: str) → Tuple[ndarray, ndarray]

Generates unit sigma points from three available methods.

Parameters:

• dof (int) – dof of the state involved

• method (str) – Method for generating sigma points ‘unscented’: Unscented method ‘cubature’: cubature method ‘gh’: Gauss-Hermite method

Returns:

returns the unit sigma points and the weights, respectively. For the sigmapoints, each column will represent a sigma point.

Return type:

Tuple[np.ndarray, np.ndarray]

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