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Measurement residual and residual noise


[zRes,resCovariance] = residual(filterObj,zMeas)
[zRes,resCovariance] = residual(filterObj,zMeas,measurementParams)


[zRes,resCovariance] = residual(filterObj,zMeas) computes the residual and residual covariance of the current given measurement, zMeas, with the predicted measurement in the filter, filterObj.

[zRes,resCovariance] = residual(filterObj,zMeas,measurementParams) specifies additional parameters that are used by the MeasurementFcn of the filterObj filter.

Input Arguments

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Filter for object tracking, specified as an object. Calling the predict overwrites the internal states of the object.

Measurement of the tracked object, specified as a vector or matrix.

Parameters for measurement function, specified as a cell array. The parameters are passed to the measurement function defined in the MeasurementFcn property of the filterObj

Output Arguments

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Residual between current and predicted measurement, returned as a matrix.

Residual covariance, returned as a matrix.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Introduced in R2017a