Port of scripts/calibration/robust_calibration.py RobustCalibrationFramework: 9-parameter environmental basis, TLS, Bayesian update, RLS, GLR drift, Gauss–Markov bias, optional Allan σ_meas (AllanVariance.hpp). More...

#include <RobustCalibrationFramework.hpp>

Collaboration diagram for fsw::calibration::RobustCalibrationFramework:

[legend]

Classes
struct	PhysicalParams

Public Member Functions
	RobustCalibrationFramework (int sensor_id)
void	seed_from_factory_cubic (const PTCalibrationCoeffs &c)
	Seed θ by ridge LS so Φ·θ ≈ factory cubic P(adc) on an ADC grid (same env as streaming).
double	max_abs_error_vs_factory (const PTCalibrationCoeffs &factory_cubic) const
	Max \|Φ·θ − P_factory(adc)\| over a dense ADC grid — sanity-check saved adjustments.json.
void	set_theta_from_polynomial (const std::vector< double > &poly_coeffs, double adc_norm_min, double adc_norm_scale)
void	set_noise_coeffs (const NoiseCoefficients &c, double tau0=0.01)
std::pair< double, double >	predict_pressure_with_uncertainty (double adc_code, const EnvironmentalState &env)
	Mean + σ; updates bias propagation clock.
double	predict_pressure_psi (double adc_code)
	Mean PSI for streaming (default env, used by calibration_service).
void	add_calibration_point (const CalibrationPoint &point)
	Zero / capture / reference — full Python add_calibration_point logic.
int	sensor_id () const
size_t	calibration_points_count () const
Eigen::VectorXd	theta_mean () const
Eigen::MatrixXd	theta_cov () const
void	set_theta_mean_for_restore (const Eigen::VectorXd &t)
void	set_theta_cov_for_restore (const Eigen::MatrixXd &cov)
Eigen::MatrixXd	rls_P_matrix () const
void	set_rls_P_for_restore (const Eigen::MatrixXd &p)

Static Public Attributes
static constexpr int	N = 9

Private Member Functions
Eigen::VectorXd	environmental_basis (double adc_code, const EnvironmentalState &env) const
std::pair< Eigen::VectorXd, Eigen::MatrixXd >	total_least_squares_calibration (const std::vector< CalibrationPoint > &points) const
std::pair< Eigen::VectorXd, Eigen::MatrixXd >	bayesian_update (const std::vector< CalibrationPoint > &new_points)
std::pair< Eigen::VectorXd, Eigen::MatrixXd >	recursive_least_squares_update (const CalibrationPoint &point)
std::pair< double, bool >	generalized_likelihood_ratio_test (const std::vector< CalibrationPoint > &points) const
double	extrapolation_variance (double adc_code) const
double	compute_measurement_variance (double adc_code, double tau) const
void	bias_propagate (double dt)
void	bias_update (double residual, double sigma_meas, double dt)
double	bias_contribution () const
double	bias_variance () const

Private Attributes
int	sensor_id_
std::vector< CalibrationPoint >	calibration_points_
Eigen::VectorXd	theta_mean_
Eigen::MatrixXd	theta_cov_
Eigen::MatrixXd	rls_P_
double	forgetting_factor_
double	glr_threshold_
int	glr_window_size_
double	env_variance_base_
double	alpha_v_
double	alpha_extrap_
Eigen::MatrixXd	env_var_env_
Eigen::MatrixXd	env_var_interaction_
struct fsw::calibration::RobustCalibrationFramework::PhysicalParams	physical_
Eigen::Vector3d	bias_b_
Eigen::Matrix3d	bias_P_
Eigen::Vector3d	bias_tau_
double	bias_process_noise_
std::chrono::steady_clock::time_point	last_pred_time_
double	last_bias_update_t_
double	inflation_factor_
std::optional< NoiseCoefficients >	noise_coeffs_
double	allan_tau0_
std::deque< double >	recent_residuals_
std::deque< double >	recent_uncertainties_
double	sigma_ref_

Static Private Attributes
static constexpr size_t	kCalibrationPointsMax = 50

Detailed Description

Port of scripts/calibration/robust_calibration.py RobustCalibrationFramework: 9-parameter environmental basis, TLS, Bayesian update, RLS, GLR drift, Gauss–Markov bias, optional Allan σ_meas (AllanVariance.hpp).

Definition at line 40 of file RobustCalibrationFramework.hpp.

Constructor & Destructor Documentation

◆ RobustCalibrationFramework()

fsw::calibration::RobustCalibrationFramework::RobustCalibrationFramework ( int sensor_id )

explicit

Definition at line 21 of file RobustCalibrationFramework.cpp.

References allan_tau0_, alpha_extrap_, alpha_v_, bias_b_, bias_P_, bias_process_noise_, bias_tau_, env_var_env_, env_var_interaction_, env_variance_base_, forgetting_factor_, glr_threshold_, glr_window_size_, inflation_factor_, last_bias_update_t_, last_pred_time_, N, rls_P_, sensor_id(), sensor_id_, sigma_ref_, theta_cov_, and theta_mean_.

Member Function Documentation

◆ add_calibration_point()

void fsw::calibration::RobustCalibrationFramework::add_calibration_point ( const CalibrationPoint & point )

Zero / capture / reference — full Python add_calibration_point logic.

Definition at line 369 of file RobustCalibrationFramework.cpp.

References fsw::calibration::CalibrationPoint::adc_code, bayesian_update(), bias_b_, bias_contribution(), bias_P_, bias_update(), calibration_points_, fsw::calibration::CalibrationPoint::env, environmental_basis(), forgetting_factor_, generalized_likelihood_ratio_test(), kCalibrationPointsMax, last_bias_update_t_, N, fsw::calibration::CalibrationPoint::pressure, recent_residuals_, recursive_least_squares_update(), rls_P_, theta_cov_, theta_mean_, fsw::calibration::CalibrationPoint::timestamp, and fsw::calibration::CalibrationPoint::uncertainty.

◆ bayesian_update()

std::pair< Eigen::VectorXd, Eigen::MatrixXd > fsw::calibration::RobustCalibrationFramework::bayesian_update ( const std::vector< CalibrationPoint > & new_points )

private

Definition at line 219 of file RobustCalibrationFramework.cpp.

References N, theta_cov_, theta_mean_, and total_least_squares_calibration().

Referenced by add_calibration_point(), and robust_calibration.RobustCalibrationFramework::add_calibration_point().

◆ bias_contribution()

double fsw::calibration::RobustCalibrationFramework::bias_contribution ( ) const

private

Definition at line 154 of file RobustCalibrationFramework.cpp.

References bias_b_.

Referenced by add_calibration_point(), and predict_pressure_with_uncertainty().

◆ bias_propagate()

void fsw::calibration::RobustCalibrationFramework::bias_propagate ( double dt )

private

Definition at line 132 of file RobustCalibrationFramework.cpp.

References bias_b_, bias_P_, bias_process_noise_, and bias_tau_.

Referenced by bias_update(), and predict_pressure_with_uncertainty().

◆ bias_update()

void fsw::calibration::RobustCalibrationFramework::bias_update	(	double	residual,
		double	sigma_meas,
		double	dt )

private

Definition at line 144 of file RobustCalibrationFramework.cpp.

References bias_b_, bias_P_, and bias_propagate().

Referenced by add_calibration_point().

◆ bias_variance()

double fsw::calibration::RobustCalibrationFramework::bias_variance ( ) const

private

Definition at line 158 of file RobustCalibrationFramework.cpp.

References bias_P_.

Referenced by predict_pressure_with_uncertainty().

◆ calibration_points_count()

size_t fsw::calibration::RobustCalibrationFramework::calibration_points_count ( ) const

inline

Definition at line 71 of file RobustCalibrationFramework.hpp.

References calibration_points_.

◆ compute_measurement_variance()

double fsw::calibration::RobustCalibrationFramework::compute_measurement_variance	(	double	adc_code,
		double	tau ) const

private

Definition at line 314 of file RobustCalibrationFramework.cpp.

References alpha_v_, env_variance_base_, fsw::calibration::measurement_uncertainty(), and noise_coeffs_.

Referenced by predict_pressure_with_uncertainty().

◆ environmental_basis()

Eigen::VectorXd fsw::calibration::RobustCalibrationFramework::environmental_basis	(	double	adc_code,
		const EnvironmentalState &	env ) const

private

Definition at line 163 of file RobustCalibrationFramework.cpp.

References fsw::calibration::EnvironmentalState::aging_factor, fsw::calibration::EnvironmentalState::humidity, fsw::calibration::EnvironmentalState::mounting_torque, N, physical_, fsw::calibration::EnvironmentalState::temperature, and fsw::calibration::EnvironmentalState::vibration.

Referenced by add_calibration_point(), generalized_likelihood_ratio_test(), max_abs_error_vs_factory(), predict_pressure_with_uncertainty(), recursive_least_squares_update(), seed_from_factory_cubic(), and total_least_squares_calibration().

◆ extrapolation_variance()

double fsw::calibration::RobustCalibrationFramework::extrapolation_variance ( double adc_code ) const

private

Definition at line 288 of file RobustCalibrationFramework.cpp.

References alpha_extrap_, calibration_points_, and p.

Referenced by predict_pressure_with_uncertainty().

◆ generalized_likelihood_ratio_test()

std::pair< double, bool > fsw::calibration::RobustCalibrationFramework::generalized_likelihood_ratio_test ( const std::vector< CalibrationPoint > & points ) const

private

Definition at line 257 of file RobustCalibrationFramework.cpp.

References env_variance_base_, environmental_basis(), glr_threshold_, glr_window_size_, res, theta_mean_, and total_least_squares_calibration().

Referenced by add_calibration_point(), and robust_calibration.RobustCalibrationFramework::add_calibration_point().

◆ max_abs_error_vs_factory()

double fsw::calibration::RobustCalibrationFramework::max_abs_error_vs_factory ( const PTCalibrationCoeffs & factory_cubic ) const

Max |Φ·θ − P_factory(adc)| over a dense ADC grid — sanity-check saved adjustments.json.

Definition at line 95 of file RobustCalibrationFramework.cpp.

References fsw::calibration::PTCalibrationCoeffs::calculate_pressure(), environmental_basis(), and theta_mean_.

◆ predict_pressure_psi()

double fsw::calibration::RobustCalibrationFramework::predict_pressure_psi ( double adc_code )

Mean PSI for streaming (default env, used by calibration_service).

Definition at line 364 of file RobustCalibrationFramework.cpp.

References predict_pressure_with_uncertainty().

◆ predict_pressure_with_uncertainty()

std::pair< double, double > fsw::calibration::RobustCalibrationFramework::predict_pressure_with_uncertainty	(	double	adc_code,
		const EnvironmentalState &	env )

Mean + σ; updates bias propagation clock.

Definition at line 324 of file RobustCalibrationFramework.cpp.

References fsw::calibration::EnvironmentalState::aging_factor, bias_contribution(), bias_propagate(), bias_variance(), compute_measurement_variance(), env_var_env_, env_var_interaction_, environmental_basis(), extrapolation_variance(), fsw::calibration::EnvironmentalState::humidity, inflation_factor_, last_pred_time_, fsw::calibration::EnvironmentalState::mounting_torque, recent_uncertainties_, fsw::calibration::EnvironmentalState::temperature, theta_cov_, theta_mean_, and fsw::calibration::EnvironmentalState::vibration.

Referenced by predict_pressure_psi().

◆ recursive_least_squares_update()

std::pair< Eigen::VectorXd, Eigen::MatrixXd > fsw::calibration::RobustCalibrationFramework::recursive_least_squares_update ( const CalibrationPoint & point )

private

Definition at line 243 of file RobustCalibrationFramework.cpp.

References fsw::calibration::CalibrationPoint::adc_code, fsw::calibration::CalibrationPoint::env, environmental_basis(), forgetting_factor_, N, fsw::calibration::CalibrationPoint::pressure, rls_P_, theta_cov_, and theta_mean_.

Referenced by add_calibration_point(), and robust_calibration.RobustCalibrationFramework::add_calibration_point().

◆ rls_P_matrix()

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::rls_P_matrix ( ) const

inline

Definition at line 83 of file RobustCalibrationFramework.hpp.

References rls_P_.

◆ seed_from_factory_cubic()

void fsw::calibration::RobustCalibrationFramework::seed_from_factory_cubic ( const PTCalibrationCoeffs & c )

Seed θ by ridge LS so Φ·θ ≈ factory cubic P(adc) on an ADC grid (same env as streaming).

The old 2-parameter linear seed could not match a cubic → robust read low vs factory.

Definition at line 61 of file RobustCalibrationFramework.cpp.

References fsw::calibration::PTCalibrationCoeffs::calculate_pressure(), environmental_basis(), N, rhs, rls_P_, theta_cov_, and theta_mean_.

◆ sensor_id()

int fsw::calibration::RobustCalibrationFramework::sensor_id ( ) const

inline

Definition at line 68 of file RobustCalibrationFramework.hpp.

References sensor_id_.

Referenced by RobustCalibrationFramework().

◆ set_noise_coeffs()

void fsw::calibration::RobustCalibrationFramework::set_noise_coeffs	(	const NoiseCoefficients &	c,
		double	tau0 = 0.01 )

Definition at line 127 of file RobustCalibrationFramework.cpp.

References allan_tau0_, and noise_coeffs_.

◆ set_rls_P_for_restore()

void fsw::calibration::RobustCalibrationFramework::set_rls_P_for_restore ( const Eigen::MatrixXd & p )

Definition at line 433 of file RobustCalibrationFramework.cpp.

References N, p, and rls_P_.

◆ set_theta_cov_for_restore()

void fsw::calibration::RobustCalibrationFramework::set_theta_cov_for_restore ( const Eigen::MatrixXd & cov )

Definition at line 428 of file RobustCalibrationFramework.cpp.

References N, and theta_cov_.

◆ set_theta_from_polynomial()

void fsw::calibration::RobustCalibrationFramework::set_theta_from_polynomial	(	const std::vector< double > &	poly_coeffs,
		double	adc_norm_min,
		double	adc_norm_scale )

Definition at line 113 of file RobustCalibrationFramework.cpp.

References theta_mean_.

◆ set_theta_mean_for_restore()

void fsw::calibration::RobustCalibrationFramework::set_theta_mean_for_restore ( const Eigen::VectorXd & t )

Definition at line 423 of file RobustCalibrationFramework.cpp.

References N, and theta_mean_.

◆ theta_cov()

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::theta_cov ( ) const

inline

Definition at line 78 of file RobustCalibrationFramework.hpp.

References theta_cov_.

Referenced by total_least_squares_calibration().

◆ theta_mean()

Eigen::VectorXd fsw::calibration::RobustCalibrationFramework::theta_mean ( ) const

inline

Definition at line 75 of file RobustCalibrationFramework.hpp.

References theta_mean_.

Referenced by total_least_squares_calibration().

◆ total_least_squares_calibration()

std::pair< Eigen::VectorXd, Eigen::MatrixXd > fsw::calibration::RobustCalibrationFramework::total_least_squares_calibration ( const std::vector< CalibrationPoint > & points ) const

private

Definition at line 189 of file RobustCalibrationFramework.cpp.

References env_variance_base_, environmental_basis(), N, rhs, theta_cov(), theta_cov_, theta_mean(), and theta_mean_.

Referenced by bayesian_update(), robust_calibration.RobustCalibrationFramework::bayesian_update(), generalized_likelihood_ratio_test(), and robust_calibration.RobustCalibrationFramework::generalized_likelihood_ratio_test().

Member Data Documentation

◆ allan_tau0_

double fsw::calibration::RobustCalibrationFramework::allan_tau0_

private

Definition at line 127 of file RobustCalibrationFramework.hpp.

Referenced by RobustCalibrationFramework(), and set_noise_coeffs().

◆ alpha_extrap_

double fsw::calibration::RobustCalibrationFramework::alpha_extrap_

private

Definition at line 104 of file RobustCalibrationFramework.hpp.

Referenced by extrapolation_variance(), and RobustCalibrationFramework().

◆ alpha_v_

double fsw::calibration::RobustCalibrationFramework::alpha_v_

private

Definition at line 103 of file RobustCalibrationFramework.hpp.

Referenced by compute_measurement_variance(), and RobustCalibrationFramework().

◆ bias_b_

Eigen::Vector3d fsw::calibration::RobustCalibrationFramework::bias_b_

private

Definition at line 117 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), bias_contribution(), bias_propagate(), bias_update(), and RobustCalibrationFramework().

◆ bias_P_

Eigen::Matrix3d fsw::calibration::RobustCalibrationFramework::bias_P_

private

Definition at line 118 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), bias_propagate(), bias_update(), bias_variance(), and RobustCalibrationFramework().

◆ bias_process_noise_

double fsw::calibration::RobustCalibrationFramework::bias_process_noise_

private

Definition at line 120 of file RobustCalibrationFramework.hpp.

Referenced by bias_propagate(), and RobustCalibrationFramework().

◆ bias_tau_

Eigen::Vector3d fsw::calibration::RobustCalibrationFramework::bias_tau_

private

Definition at line 119 of file RobustCalibrationFramework.hpp.

Referenced by bias_propagate(), and RobustCalibrationFramework().

◆ calibration_points_

std::vector<CalibrationPoint> fsw::calibration::RobustCalibrationFramework::calibration_points_

private

Definition at line 91 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), calibration_points_count(), and extrapolation_variance().

◆ env_var_env_

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::env_var_env_

private

Definition at line 106 of file RobustCalibrationFramework.hpp.

Referenced by predict_pressure_with_uncertainty(), and RobustCalibrationFramework().

◆ env_var_interaction_

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::env_var_interaction_

private

Definition at line 107 of file RobustCalibrationFramework.hpp.

Referenced by predict_pressure_with_uncertainty(), and RobustCalibrationFramework().

◆ env_variance_base_

double fsw::calibration::RobustCalibrationFramework::env_variance_base_

private

Definition at line 102 of file RobustCalibrationFramework.hpp.

Referenced by compute_measurement_variance(), generalized_likelihood_ratio_test(), RobustCalibrationFramework(), and total_least_squares_calibration().

◆ forgetting_factor_

double fsw::calibration::RobustCalibrationFramework::forgetting_factor_

private

Definition at line 98 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), recursive_least_squares_update(), and RobustCalibrationFramework().

◆ glr_threshold_

double fsw::calibration::RobustCalibrationFramework::glr_threshold_

private

Definition at line 99 of file RobustCalibrationFramework.hpp.

Referenced by generalized_likelihood_ratio_test(), and RobustCalibrationFramework().

◆ glr_window_size_

int fsw::calibration::RobustCalibrationFramework::glr_window_size_

private

Definition at line 100 of file RobustCalibrationFramework.hpp.

Referenced by generalized_likelihood_ratio_test(), and RobustCalibrationFramework().

◆ inflation_factor_

double fsw::calibration::RobustCalibrationFramework::inflation_factor_

private

Definition at line 124 of file RobustCalibrationFramework.hpp.

Referenced by predict_pressure_with_uncertainty(), and RobustCalibrationFramework().

◆ kCalibrationPointsMax

size_t fsw::calibration::RobustCalibrationFramework::kCalibrationPointsMax = 50

staticconstexprprivate

Definition at line 92 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point().

◆ last_bias_update_t_

double fsw::calibration::RobustCalibrationFramework::last_bias_update_t_

private

Definition at line 123 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), and RobustCalibrationFramework().

◆ last_pred_time_

std::chrono::steady_clock::time_point fsw::calibration::RobustCalibrationFramework::last_pred_time_

private

Definition at line 122 of file RobustCalibrationFramework.hpp.

Referenced by predict_pressure_with_uncertainty(), and RobustCalibrationFramework().

◆ N

int fsw::calibration::RobustCalibrationFramework::N = 9

staticconstexpr

Definition at line 42 of file RobustCalibrationFramework.hpp.

Referenced by engine.control.robust_ddp.data_models.ControllerConfig::__post_init__(), add_calibration_point(), bayesian_update(), environmental_basis(), fsw::calibration::RobustCalibrationManager::load_adjustments(), recursive_least_squares_update(), RobustCalibrationFramework(), fsw::calibration::RobustCalibrationManager::save_adjustments(), seed_from_factory_cubic(), set_rls_P_for_restore(), set_theta_cov_for_restore(), set_theta_mean_for_restore(), test_numba_ab_parity.TestRandomizedSweep::test_sweep(), and total_least_squares_calibration().

◆ noise_coeffs_

std::optional<NoiseCoefficients> fsw::calibration::RobustCalibrationFramework::noise_coeffs_

private

Definition at line 126 of file RobustCalibrationFramework.hpp.

Referenced by compute_measurement_variance(), and set_noise_coeffs().

◆ physical_

struct fsw::calibration::RobustCalibrationFramework::PhysicalParams fsw::calibration::RobustCalibrationFramework::physical_

private

Referenced by environmental_basis().

◆ recent_residuals_

std::deque<double> fsw::calibration::RobustCalibrationFramework::recent_residuals_

private

Definition at line 129 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point().

◆ recent_uncertainties_

std::deque<double> fsw::calibration::RobustCalibrationFramework::recent_uncertainties_

private

Definition at line 130 of file RobustCalibrationFramework.hpp.

Referenced by predict_pressure_with_uncertainty().

◆ rls_P_

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::rls_P_

private

Definition at line 96 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), recursive_least_squares_update(), rls_P_matrix(), RobustCalibrationFramework(), seed_from_factory_cubic(), and set_rls_P_for_restore().

◆ sensor_id_

int fsw::calibration::RobustCalibrationFramework::sensor_id_

private

Definition at line 89 of file RobustCalibrationFramework.hpp.

Referenced by RobustCalibrationFramework(), and sensor_id().

◆ sigma_ref_

double fsw::calibration::RobustCalibrationFramework::sigma_ref_

private

Definition at line 131 of file RobustCalibrationFramework.hpp.

Referenced by RobustCalibrationFramework().

◆ theta_cov_

Eigen::MatrixXd fsw::calibration::RobustCalibrationFramework::theta_cov_

private

Definition at line 95 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), bayesian_update(), predict_pressure_with_uncertainty(), recursive_least_squares_update(), RobustCalibrationFramework(), seed_from_factory_cubic(), set_theta_cov_for_restore(), theta_cov(), and total_least_squares_calibration().

◆ theta_mean_

Eigen::VectorXd fsw::calibration::RobustCalibrationFramework::theta_mean_

private

Definition at line 94 of file RobustCalibrationFramework.hpp.

Referenced by add_calibration_point(), bayesian_update(), generalized_likelihood_ratio_test(), max_abs_error_vs_factory(), predict_pressure_with_uncertainty(), recursive_least_squares_update(), RobustCalibrationFramework(), seed_from_factory_cubic(), set_theta_from_polynomial(), set_theta_mean_for_restore(), theta_mean(), and total_least_squares_calibration().

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

daq-server/diablo_server/lib/include/calibration/RobustCalibrationFramework.hpp
daq-server/diablo_server/lib/src/calibration/RobustCalibrationFramework.cpp

Classes

Public Member Functions

Static Public Attributes

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobustCalibrationFramework()

Member Function Documentation

◆ add_calibration_point()

◆ bayesian_update()

◆ bias_contribution()

◆ bias_propagate()

◆ bias_update()

◆ bias_variance()

◆ calibration_points_count()

◆ compute_measurement_variance()

◆ environmental_basis()

◆ extrapolation_variance()

◆ generalized_likelihood_ratio_test()

◆ max_abs_error_vs_factory()

◆ predict_pressure_psi()

◆ predict_pressure_with_uncertainty()

◆ recursive_least_squares_update()

◆ rls_P_matrix()

◆ seed_from_factory_cubic()

◆ sensor_id()

◆ set_noise_coeffs()

◆ set_rls_P_for_restore()

◆ set_theta_cov_for_restore()

◆ set_theta_from_polynomial()

◆ set_theta_mean_for_restore()

◆ theta_cov()

◆ theta_mean()

◆ total_least_squares_calibration()

Member Data Documentation

◆ allan_tau0_

◆ alpha_extrap_

◆ alpha_v_

◆ bias_b_

◆ bias_P_

◆ bias_process_noise_

◆ bias_tau_

◆ calibration_points_

◆ env_var_env_

◆ env_var_interaction_

◆ env_variance_base_

◆ forgetting_factor_

◆ glr_threshold_

◆ glr_window_size_

◆ inflation_factor_

◆ kCalibrationPointsMax

◆ last_bias_update_t_

◆ last_pred_time_

◆ N

◆ noise_coeffs_

◆ physical_

◆ recent_residuals_

◆ recent_uncertainties_

◆ rls_P_

◆ sensor_id_

◆ sigma_ref_

◆ theta_cov_

◆ theta_mean_