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EKF2: centralized auto-generated state (#22183)

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* ekf2_derivation: use single source of state definition

The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition

* ekf2: generated state sample add const reference getter

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Mathieu Bresciani
2023-10-06 10:28:21 -04:00
committed by GitHub
co-authored by bresch Daniel Agar
parent 2e1d5687f9
commit 05fd8c5976
15 changed files with 279 additions and 206 deletions
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src/modules/ekf2/EKF/yaw_fusion.cpp
+2 -2
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@@ -136,9 +136,9 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
void Ekf::computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const
{
if (shouldUse321RotationSequence(_R_to_earth)) {
sym::ComputeYaw321InnovVarAndH(getStateAtFusionHorizonAsVector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
sym::ComputeYaw321InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
} else {
sym::ComputeYaw312InnovVarAndH(getStateAtFusionHorizonAsVector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
sym::ComputeYaw312InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW);
}
}