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Interface: output vector quantities by "return-by-value"

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kamilritz
2020-03-30 13:07:00 +02:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
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EKF/covariance.cpp
+4 -5
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@@ -101,15 +101,14 @@ void Ekf::initialiseCovariance()
}
void Ekf::get_pos_var(Vector3f &pos_var)
Vector3f Ekf::getPositionVariance() const
{
pos_var = P.slice<3,3>(7,7).diag();
return P.slice<3,3>(7,7).diag();
}
void Ekf::get_vel_var(Vector3f &vel_var)
Vector3f Ekf::getVelocityVariance() const
{
vel_var = P.slice<3,3>(4,4).diag();
return P.slice<3,3>(4,4).diag();
}
void Ekf::predictCovariance()