estimation.measurement¶

What a sensor saw: some of the coordinates q and rates v of the robot, with their noise.

Functions

`block_diagonal`(blocks)	The matrix with the square `blocks` along its diagonal.
`covariance`(R, m[, what])	The (m, m) covariance of a variance, of m variances (one per coordinate) or of a matrix.

Classes

`Measurement`([q, v, Rq, Rv, observed, name, ...])	What one sensor saw at one step: the configuration `q` and/or the velocity `v`.