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Ekf: add more useful methods to interface with the covariances (#543)

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Nuno Marques
2019-03-09 11:57:35 -05:00
committed by Daniel Agar
parent a85d3a43ed
commit 4e0e68e905
3 changed files with 14 additions and 12 deletions
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EKF/ekf_helper.cpp
-8
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@@ -982,14 +982,6 @@ void Ekf::get_gyro_bias(float bias[3])
memcpy(bias, temp, 3 * sizeof(float));
}
// get the diagonal elements of the covariance matrix
void Ekf::get_covariances(float *covariances)
{
for (unsigned i = 0; i < _k_num_states; i++) {
covariances[i] = P[i][i];
}
}
// get the position and height of the ekf origin in WGS-84 coordinates and time the origin was set
// return true if the origin is valid
bool Ekf::get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt)