navlie.utils.common.GaussianResult¶

class navlie.utils.common.GaussianResult(estimate: StateWithCovariance, state_true: State)¶

Bases: object

A data container that simultaneously computes various interesting metrics about a Gaussian filter’s state estimate, given the ground-truth value of the state.

Parameters:

estimate (StateWithCovariance) – Estimated state and corresponding covariance.
state_true (State) – The true state, which will be used to compute various error metrics.

stamp¶

timestamp

Type:: float

state¶

estimated state

Type:: State

state_true¶

true state

Type:: State

covariance¶

covariance associated with estimated state

Type:: numpy.ndarray

error¶

error vector between estimated and true state

Type:: numpy.ndarray

ees¶

sum of estimation error squared (EES)

Type:: float

nees¶

normalized estimation error squared (NEES)

Type:: float

rmse¶

root mean squared error (RMSE)

Type:: float

md¶

Mahalanobis distance

Type:: float

three_sigma¶

three-sigma bounds on each error component

Type:: numpy.ndarray

navlie.utils.common.van_loans

navlie.utils.common.GaussianResultList