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Use new added matrix functions

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Kamil Ritz
2020-08-24 19:24:27 +10:00
committed by Paul Riseborough
parent 1f637af7de
commit 114516b784
3 changed files with 3 additions and 11 deletions
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EKF/EKFGSF_yaw.cpp
+1 -3
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@@ -534,9 +534,7 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g)
if (rowLengthSq > FLT_EPSILON) {
// Use linear approximation for inverse sqrt taking advantage of the row length being close to 1.0
const float rowLengthInv = 1.5f - 0.5f * rowLengthSq;
ret(r,0) *= rowLengthInv;
ret(r,1) *= rowLengthInv;
ret(r,2) *= rowLengthInv;
ret.row(r) *= rowLengthInv;
}
}