mars::Chi2 Class Reference

#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/ekf.h>

Collaboration diagram for mars::Chi2:

Public Member Functions
	Chi2 ()
	Chi2 Default constructor. More...
	Chi2 (const int &dof, const double &chi_value)
	Chi2 Constructor. More...
void	set_dof (const int &value)
	set_dof Set degree of freedom for the X2 distribution More...
void	set_chi_value (const double &value)
	set_chi_value Set chi value for the calculation of the upper critical value More...
void	get_result (Eigen::MatrixXd *const last_res, double *const last_X2) const
	get_result Returns the last report values, i.e. last residual and X2 value More...
void	CalculateUcv ()
	CalculateUcv Perform the calculation of the upper critical value. More...
void	ActivateTest (const bool &value)
	ActivateTest Enable or disable the X2 test. More...
bool	CalculateChi2 (const Eigen::MatrixXd &res, const Eigen::MatrixXd &S)
	CalculateChi2 Calculate the X2 value and compare it to the upper critical value (UCV) More...
void	PrintReport (const std::string &name)
	PrintReport Print a formated report e.g. if the test did not pass. More...

Public Attributes
boost::math::chi_squared	dist_
int	dof_ { 3 }
	Chi2 distribution, generated based on the DoF. More...
double	chi_value_ { 0.05 }
	Degrees of freedom for the setup. More...
double	ucv_
	Chi value for the confidence intervall (0.05 represents 95% test) More...
bool	do_test_ { true }
	Upper critival value. More...
bool	passed_ { false }
	Determine if the test is performed or not. More...

Private Attributes
Eigen::MatrixXd	last_res_
	Shows if the test passed or not (true=passed) More...
double	last_X2_
	Last residual, for the report. More...

Constructor & Destructor Documentation

Chi2() [1/2]

mars::Chi2::Chi2

(

)

Chi2 Default constructor.

Chi2() [2/2]

mars::Chi2::Chi2	(	const int &	dof,
		const double &	chi_value
	)

Chi2 Constructor.

Parameters

dof	Degrees of freedom of the measurement
chi_value	Chi value to determine the confidence interval

Member Function Documentation

set_dof()

void mars::Chi2::set_dof

(

const int &

value

)

set_dof Set degree of freedom for the X2 distribution

Parameters

value

Degrees of freedom

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set_chi_value()

void mars::Chi2::set_chi_value

(

const double &

value

)

set_chi_value Set chi value for the calculation of the upper critical value

Parameters

value

Chi value

get_result()

void mars::Chi2::get_result	(	Eigen::MatrixXd *const	last_res,
		double *const	last_X2
	)		const

get_result Returns the last report values, i.e. last residual and X2 value

Parameters

last_res	last residual
last_X2	last X2 value

CalculateUcv()

void mars::Chi2::CalculateUcv

(

)

CalculateUcv Perform the calculation of the upper critical value.

ActivateTest()

void mars::Chi2::ActivateTest

(

const bool &

value

)

ActivateTest Enable or disable the X2 test.

Parameters

value

True for enabeling, false for disabeling

CalculateChi2()

bool mars::Chi2::CalculateChi2	(	const Eigen::MatrixXd &	res,
		const Eigen::MatrixXd &	S
	)

CalculateChi2 Calculate the X2 value and compare it to the upper critical value (UCV)

Parameters

res	Residual
S	Innovation / Variance of the residual

Returns

True if the test passed, false if it did not pass

PrintReport()

void mars::Chi2::PrintReport

(

const std::string &

name

)

PrintReport Print a formated report e.g. if the test did not pass.

Parameters

name	Name of the sensor, used in the print

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Member Data Documentation

dist_

boost::math::chi_squared mars::Chi2::dist_

dof_

int mars::Chi2::dof_ { 3 }

Chi2 distribution, generated based on the DoF.

chi_value_

double mars::Chi2::chi_value_ { 0.05 }

Degrees of freedom for the setup.

ucv_

double mars::Chi2::ucv_

Chi value for the confidence intervall (0.05 represents 95% test)

do_test_

bool mars::Chi2::do_test_ { true }

Upper critival value.

passed_

bool mars::Chi2::passed_ { false }

Determine if the test is performed or not.

last_res_

Eigen::MatrixXd mars::Chi2::last_res_

private

Shows if the test passed or not (true=passed)

last_X2_

double mars::Chi2::last_X2_

private

Last residual, for the report.

---

The documentation for this class was generated from the following file:

• ekf.h