empyrean.SigmaPoint¶

class SigmaPoint(n_sigma=1.0, samples_per_plane=8)[source]

Bases: object

Sigma-point (unscented) transform.

The engine uses the canonical Julier–Uhlmann 2N+1 unscented set, which is parameter-free: n_sigma and samples_per_plane are legacy knobs and only their default values are currently accepted. A non-default value is rejected loudly by the engine (SigmaPointConstruction) rather than silently reinterpreted — pass SigmaPoint() and leave both at their defaults.

Parameters:

n_sigma (float) – Legacy sigma-point spread. Must be 1.0 (the default); any other value raises.
samples_per_plane (int) – Legacy points per coordinate-plane pair. Must be 8 (the default); any other value raises.

Methods

__init__([n_sigma, samples_per_plane])

Attributes

`n_sigma`
`samples_per_plane`

n_sigma: float = 1.0

samples_per_plane: int = 8