navlie.lib.models.InvariantPointRelativePosition¶
- class navlie.lib.models.InvariantPointRelativePosition(y: ndarray, model: PointRelativePosition)¶
Bases:
MeasurementModel- evaluate(x: MatrixLieGroupState) → ndarray¶
Computes the right-invariant innovation.
- Parameters:
x (MatrixLieGroupState) – Evaluation point of the innovation.
- Returns:
Residual.
- Return type:
np.ndarray
- jacobian(x: MatrixLieGroupState) → ndarray¶
Compute the Jacobian of the innovation directly.
- Parameters:
x (MatrixLieGroupState) – Matrix Lie group state containing attitude and position
- Returns:
Jacobian of the innovation w.r.t the state
- Return type:
np.ndarray
- covariance(x: MatrixLieGroupState) → ndarray¶
Returns the covariance \(\mathbf{R}\) associated with additive Gaussian noise.
- evaluate_with_jacobian(x: State) → Tuple[ndarray, ndarray]¶
Evaluates the measurement model and simultaneously returns the Jacobian as its second output argument. This is useful to override for performance reasons when the model evaluation and Jacobian have a lot of common calculations, and it is more efficient to calculate them in the same function call.