physics.observer.ekf — net.clojars.helsingin/physics 0.2.0

Extended Kalman Filter for 6-DoF rigid body state estimation.

predict clj

(predict {:keys [state-est covariance model controls environment dt Q]})

EKF Prediction Step. Returns {:state-est ... :covariance ...}

update-step clj

(update-step {:keys [state-est covariance]} H z R)

EKF Update Step. H: Measurement matrix (m x n) z: Measurement vector (m) R: Measurement noise covariance (m x m)