EKF: move small simple getters to header

- return by const reference where possible
2026-10-25 04:43:34 +08:00 · 2020-10-30 09:48:45 -04:00
parent defb35d8f5
commit 48a8992caf
6 changed files with 109 additions and 131 deletions
@@ -103,16 +103,6 @@ void Ekf::initialiseCovariance()

 }

-Vector3f Ekf::getPositionVariance() const
-{
-	return P.slice<3,3>(7,7).diag();
-}
-
-Vector3f Ekf::getVelocityVariance() const
-{
-	return P.slice<3,3>(4,4).diag();
-}
-
 void Ekf::predictCovariance()
 {
 	// assign intermediate state variables