0.5.0

To add minikalman/0.5.0 to your project, run

cargo add minikalman@0.5.0

or use

[dependencies]
minikalman = "0.5.0"

To install the latest version, run

cargo add minikalman

Breaking Changes

This release reworks the construction of Kalman Filters on both no_std using macros, but adds
builder support for std and alloc targets. Extended Kalman Filters are now available as well.

Added

• #10: Builder types were added for Kalman filters, control inputs and observations. The KalmanFilterBuilder type serves as a simple entry point on alloc crate features.
• #21: Added the functions make_identity, make_scalar, make_comatrix and set_diagonal_to_scalar for square matrices.
• #25: Added support for Extended Kalman Filters.
• #28: micromath is now an optional dependency again.

Changed

• #9: Data ownership was reworked: Filters, control inputs and measurements/observations are now backed by a generic buffer type that can operate on stack- or heap allocated arrays, immutable and mutable references. Some features are gated behind the alloc crate feature.
• Types were remodeled into new modules in order to arrange them in a slightly more logical way.
• #18: "Inputs" naming was changed to "Control" to align more closely with common usages of Kalman filters.
• #20: "Measurements" naming was changed to "Observation" in places where it aligns with common usages of Kalman filters. In addition, type name ambiguity between process and measurement noise covariance was reduced.

Removed

• The create_buffer_X macros were removed from the crate due to their relatively complicated use.

Internal

• #8: The repository was restructured into a Cargo workspace to allow for easier handling of cross-compilation examples.
• #27: Added an EKF example with radar measurements of a moving object.

Pull Requests

• Convert to cargo workspace by @sunsided in #8
• Rework matrix data ownership by @sunsided in #9
• Add Kalman Filter, Input and Measurement builders by @sunsided in #12
• Remove minikalman-traits package by @sunsided in #16
• Move buffer types into buffer module by @sunsided in #17
• Rename inputs to controls by @sunsided in #18
• Rename measurements to observations by @sunsided in #20
• Add linear acceleration example by @sunsided in #21
• Simplify trait bounds and add inspection functions by @sunsided in #23
• Simplify vector and matrix inspection / application functions by @sunsided in #24
• Extended Kalman Filters by @sunsided in #25
• Remove apply_mut and inspect_mut in favor of apply and inspect by @sunsided in #26
• EKF example: Radar measurements of a moving object by @sunsided in #27
• Re-enable micromath support by @sunsided in #28