autoware::prediction::detail Namespace Reference

Functions
template<std::int32_t kNumOfStates>
bool	passes_mahalanobis_gate (const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &sample, const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &mean, const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > &covariance_factor, const common::types::float32_t mahalanobis_threshold)

Function Documentation

passes_mahalanobis_gate()

template<std::int32_t kNumOfStates>

bool autoware::prediction::detail::passes_mahalanobis_gate	(	const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &	sample,
		const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &	mean,
		const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > &	covariance_factor,
		const common::types::float32_t	mahalanobis_threshold
	)

Check if the sample passes the Mahalanobis gate.

Parameters

[in]	sample	The input sample
[in]	mean	The mean to be compared against
[in]	covariance_factor	Covariance around the given mean
[in]	mahalanobis_threshold	The mahalanobis threshold factor

Template Parameters

kNumOfStates

Number of states in the state vector.

Returns

True if the sample passes the gate and false otherwise.