Function CovMatrixFromConfidenceEllipse

Function Documentation

inline std::array<double, 4> CovMatrixFromConfidenceEllipse(double semi_major, double semi_minor, double major_orientation, const double object_heading)

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters:

  • semi_major – Semi major axis length in meters

  • semi_minor – Semi minor axis length in meters

  • major_orientation – Orientation of the major axis in degrees, relative to WGS84

  • object_heading – object heading in radians, relative to WGS84

Returns:

std::array<double, 4> The covariance matrix in vehicle coordinates (x = longitudinal, y = lateral)