High-assurance kinematic propagation for field operations. Features 'Survival Mode' and 'Risk Awareness': propagates both state and uncertainty bounds.
High-assurance kinematic propagation for field operations. Features 'Survival Mode' and 'Risk Awareness': propagates both state and uncertainty bounds.
(constant-acceleration state acceleration dt)Robust CA propagator. Iterates if dt > MAX_DT.
Robust CA propagator. Iterates if dt > MAX_DT.
(constant-velocity state dt)Robust CV propagator. Iterates if dt > MAX_DT.
Robust CV propagator. Iterates if dt > MAX_DT.
(grow-uncertainty {:keys [pos vel acc-unknown]
:or {pos 0.0 vel 0.0 acc-unknown 0.0}}
dt)Propagate uncertainty bounds forward in time. E_pos_new = E_pos + E_veldt + 0.5E_acc*dt^2
Propagate uncertainty bounds forward in time. E_pos_new = E_pos + E_vel*dt + 0.5*E_acc*dt^2
(propagate state dt)(propagate state dt acceleration)Risk-Aware Propagation. Updates both the platform state and the associated uncertainty bounds.
Risk-Aware Propagation. Updates both the platform state and the associated uncertainty bounds.
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