Function confidenceEllipseFromCovMatrix

Defined in File cdd_setters_common.h

Function Documentation

inline std::tuple<double, double, double> confidenceEllipseFromCovMatrix(const std::array<double, 4> &covariance_matrix, const double object_heading)

Gets the values needed to set a confidence ellipse from a covariance matrix.

Parameters:

covariance_matrix – The four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_heading – The heading of the object in rad, with respect to WGS84

Returns:

std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84