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

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This commit is contained in:
kamilritz
2020-02-13 21:12:35 +01:00
committed by Mathieu Bresciani
parent 72d8f91b4d
commit 2fa43419d2
16 changed files with 126 additions and 233 deletions
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test/sensor_simulator/ekf_wrapper.cpp
+1 -63
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@@ -160,74 +160,12 @@ bool EkfWrapper::isWindVelocityEstimated() const
return control_status.flags.wind;
}
Vector3f EkfWrapper::getPosition() const
{
float temp[3];
_ekf->get_position(temp);
return Vector3f(temp);
}
Vector3f EkfWrapper::getVelocity() const
{
float temp[3];
_ekf->get_velocity(temp);
return Vector3f(temp);
}
Vector3f EkfWrapper::getAccelBias() const
{
float temp[3];
_ekf->get_accel_bias(temp);
return Vector3f(temp);
}
Vector3f EkfWrapper::getGyroBias() const
{
float temp[3];
_ekf->get_gyro_bias(temp);
return Vector3f(temp);
}
Quatf EkfWrapper::getQuaternion() const
{
return _ekf->get_quaternion();
}
Eulerf EkfWrapper::getEulerAngles() const
{
return Eulerf(getQuaternion());
}
matrix::Vector<float, 24> EkfWrapper::getState() const
{
float state[24];
_ekf->get_state_delayed(state);
return matrix::Vector<float, 24>{state};
return Eulerf(_ekf->getQuaternion());
}
matrix::Vector<float, 4> EkfWrapper::getQuaternionVariance() const
{
return matrix::Vector<float, 4>(_ekf->orientation_covariances().diag());
}
Vector3f EkfWrapper::getPositionVariance() const
{
return Vector3f(_ekf->position_covariances().diag());
}
Vector3f EkfWrapper::getVelocityVariance() const
{
return Vector3f(_ekf->velocity_covariances().diag());
}
Vector2f EkfWrapper::getWindVelocity() const
{
float temp[2];
_ekf->get_wind_velocity(temp);
return Vector2f(temp);
}
Quatf EkfWrapper::getVisionAlignmentQuaternion() const
{
float temp[4];
_ekf->get_ev2ekf_quaternion(temp);
return Quatf(temp);
}