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EKF: ImuDownSampler pass imuSample as const reference

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- inline ImuDownSampler::getDownSampledImuAndTriggerReset()
 - minor formatting and initialization cleanup
This commit is contained in:
Daniel Agar
2020-02-18 13:20:52 -05:00
committed by GitHub
parent 81c6d6655f
commit 00872fcaa3
2 changed files with 17 additions and 23 deletions
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EKF/imu_down_sampler.cpp
+3 -13
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@@ -1,20 +1,15 @@
#include "imu_down_sampler.hpp"
ImuDownSampler::ImuDownSampler(float target_dt_sec) : _target_dt{target_dt_sec}, _imu_collection_time_adj{0.0f} {
reset();
_imu_down_sampled.time_us = 0.0f;
}
ImuDownSampler::~ImuDownSampler() {}
ImuDownSampler::ImuDownSampler(float target_dt_sec) : _target_dt{target_dt_sec} { reset(); }
// integrate imu samples until target dt reached
// assumes that dt of the gyroscope is close to the dt of the accelerometer
// returns true if target dt is reached
bool ImuDownSampler::update(imuSample imu_sample_new) {
bool ImuDownSampler::update(const imuSample &imu_sample_new) {
if (_do_reset) {
reset();
}
// accumulate time deltas
_imu_down_sampled.delta_ang_dt += imu_sample_new.delta_ang_dt;
_imu_down_sampled.delta_vel_dt += imu_sample_new.delta_vel_dt;
@@ -51,11 +46,6 @@ bool ImuDownSampler::update(imuSample imu_sample_new) {
}
}
imuSample ImuDownSampler::getDownSampledImuAndTriggerReset() {
_do_reset = true;
return _imu_down_sampled;
}
void ImuDownSampler::reset() {
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();