multicalc-rust
https://github.com/kmolan/multicalc-rust
Rust
Scientific computing that fits on a microcontroller. Estimation, control, kinematics, Lie groups, calculus, autodiff and linear algebra in stable no_std Rust with no heap, no panics and no unsafe. Run the same code on your laptop and your Cortex-M0.
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- Issues
- Make standard normal generic
- Enforce clear variable/function names
- Replace per-PR CHANGELOG.md edits to avoid merge conflicts
- Let a particle recover after its weight underflows to zero
- Reject a negligible derivative in `Newton`, not just an exactly zero one
- Fix the near-singular thresholds in the small `Matrix::inverse` forms
- Add `log_determinant` and rank-1 update/downdate to `Cholesky`
- Add a measurement log-likelihood to the Kalman filters
- Add `set_covariance` and model getters to the Kalman filters
- Add a weighted covariance and a reseed to `ParticleFilter`
- Docs
- Rust not yet supported