diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py index 74037adfb5..3d15be6d82 100755 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py +++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py @@ -492,7 +492,7 @@ def compute_gravity_innov_var_and_k_and_h( # the innovation is the error between measured acceleration # and predicted (body frame), assuming no body acceleration meas_pred = R_to_body * sf.Matrix([0,0,-9.80665]) - innov = meas_pred - 9.80665 * meas.norm(epsilon=epsilon) + innov = meas_pred - 9.80665 * meas.normalized(epsilon=epsilon) # initialize outputs innov_var = sf.V3() diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h index 61a191994d..5ced3fdb16 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h @@ -39,13 +39,13 @@ void ComputeGravityInnovVarAndKAndH(const matrix::Matrix& state, matrix::Matrix* const Kx = nullptr, matrix::Matrix* const Ky = nullptr, matrix::Matrix* const Kz = nullptr) { - // Total ops: 734 + // Total ops: 736 // Input arrays - // Intermediate terms (55) + // Intermediate terms (54) const Scalar _tmp0 = - -Scalar(9.8066499999999994) * + Scalar(9.8066499999999994) / std::sqrt(Scalar(epsilon + std::pow(meas(0, 0), Scalar(2)) + std::pow(meas(1, 0), Scalar(2)) + std::pow(meas(2, 0), Scalar(2)))); const Scalar _tmp1 = Scalar(19.613299999999999) * state(1, 0); @@ -101,26 +101,26 @@ void ComputeGravityInnovVarAndKAndH(const matrix::Matrix& state, _tmp5 * (-P(3, 0) * _tmp7 + _tmp31 + _tmp32 + _tmp33) - _tmp7 * (-P(0, 3) * _tmp5 + _tmp40 + _tmp41 + _tmp42); const Scalar _tmp44 = Scalar(1.0) / (_tmp17); - const Scalar _tmp45 = Scalar(19.613299999999999) * P(4, 0); - const Scalar _tmp46 = Scalar(19.613299999999999) * P(4, 2); - const Scalar _tmp47 = Scalar(19.613299999999999) * P(8, 3); - const Scalar _tmp48 = Scalar(19.613299999999999) * P(8, 0); - const Scalar _tmp49 = Scalar(19.613299999999999) * P(8, 1); - const Scalar _tmp50 = Scalar(19.613299999999999) * P(8, 2); - const Scalar _tmp51 = Scalar(19.613299999999999) * P(9, 2); - const Scalar _tmp52 = Scalar(19.613299999999999) * P(9, 0); - const Scalar _tmp53 = Scalar(1.0) / (_tmp30); - const Scalar _tmp54 = Scalar(1.0) / (_tmp43); + const Scalar _tmp45 = Scalar(19.613299999999999) * P(8, 3); + const Scalar _tmp46 = Scalar(19.613299999999999) * P(8, 0); + const Scalar _tmp47 = Scalar(19.613299999999999) * P(8, 2); + const Scalar _tmp48 = Scalar(19.613299999999999) * P(9, 3); + const Scalar _tmp49 = Scalar(19.613299999999999) * P(9, 2); + const Scalar _tmp50 = Scalar(19.613299999999999) * P(9, 0); + const Scalar _tmp51 = Scalar(1.0) / (_tmp30); + const Scalar _tmp52 = Scalar(19.613299999999999) * P(4, 0); + const Scalar _tmp53 = Scalar(1.0) / (_tmp43); // Output terms (5) if (innov != nullptr) { matrix::Matrix& _innov = (*innov); - _innov(0, 0) = _tmp0 + Scalar(19.613299999999999) * state(0, 0) * state(2, 0) - + _innov(0, 0) = -_tmp0 * meas(0, 0) + Scalar(19.613299999999999) * state(0, 0) * state(2, 0) - Scalar(19.613299999999999) * state(1, 0) * state(3, 0); - _innov(1, 0) = _tmp0 - Scalar(19.613299999999999) * state(0, 0) * state(1, 0) - + _innov(1, 0) = -_tmp0 * meas(1, 0) - Scalar(19.613299999999999) * state(0, 0) * state(1, 0) - Scalar(19.613299999999999) * state(2, 0) * state(3, 0); - _innov(2, 0) = _tmp0 - Scalar(9.8066499999999994) * std::pow(state(0, 0), Scalar(2)) + + _innov(2, 0) = -_tmp0 * meas(2, 0) - + Scalar(9.8066499999999994) * std::pow(state(0, 0), Scalar(2)) + Scalar(9.8066499999999994) * std::pow(state(1, 0), Scalar(2)) + Scalar(9.8066499999999994) * std::pow(state(2, 0), Scalar(2)) - Scalar(9.8066499999999994) * std::pow(state(3, 0), Scalar(2)); @@ -141,15 +141,14 @@ void ComputeGravityInnovVarAndKAndH(const matrix::Matrix& state, _kx(1, 0) = _tmp44 * (P(1, 0) * _tmp3 + _tmp10 + _tmp23 - _tmp42); _kx(2, 0) = _tmp44 * (-P(2, 3) * _tmp1 + _tmp12 + _tmp25 + _tmp32); _kx(3, 0) = _tmp44 * (P(3, 2) * _tmp5 + _tmp14 + _tmp18 + _tmp37); - _kx(4, 0) = - _tmp44 * (-P(4, 1) * _tmp7 - P(4, 3) * _tmp1 + _tmp45 * state(2, 0) + _tmp46 * state(0, 0)); + _kx(4, 0) = _tmp44 * (P(4, 0) * _tmp3 - P(4, 1) * _tmp7 + P(4, 2) * _tmp5 - P(4, 3) * _tmp1); _kx(5, 0) = _tmp44 * (P(5, 0) * _tmp3 - P(5, 1) * _tmp7 + P(5, 2) * _tmp5 - P(5, 3) * _tmp1); _kx(6, 0) = _tmp44 * (P(6, 0) * _tmp3 - P(6, 1) * _tmp7 + P(6, 2) * _tmp5 - P(6, 3) * _tmp1); _kx(7, 0) = _tmp44 * (P(7, 0) * _tmp3 - P(7, 1) * _tmp7 + P(7, 2) * _tmp5 - P(7, 3) * _tmp1); - _kx(8, 0) = _tmp44 * (-_tmp47 * state(1, 0) + _tmp48 * state(2, 0) - _tmp49 * state(3, 0) + - _tmp50 * state(0, 0)); - _kx(9, 0) = - _tmp44 * (-P(9, 1) * _tmp7 - P(9, 3) * _tmp1 + _tmp51 * state(0, 0) + _tmp52 * state(2, 0)); + _kx(8, 0) = _tmp44 * (-P(8, 1) * _tmp7 - _tmp45 * state(1, 0) + _tmp46 * state(2, 0) + + _tmp47 * state(0, 0)); + _kx(9, 0) = _tmp44 * (-P(9, 1) * _tmp7 - _tmp48 * state(1, 0) + _tmp49 * state(0, 0) + + _tmp50 * state(2, 0)); _kx(10, 0) = _tmp44 * (P(10, 0) * _tmp3 - P(10, 1) * _tmp7 + P(10, 2) * _tmp5 - P(10, 3) * _tmp1); _kx(11, 0) = @@ -183,92 +182,93 @@ void ComputeGravityInnovVarAndKAndH(const matrix::Matrix& state, if (Ky != nullptr) { matrix::Matrix& _ky = (*Ky); - _ky(0, 0) = _tmp53 * (-P(0, 2) * _tmp7 - _tmp15 + _tmp19 + _tmp38); - _ky(1, 0) = _tmp53 * (-P(1, 3) * _tmp3 + _tmp13 + _tmp26 - _tmp33); - _ky(2, 0) = _tmp53 * (-P(2, 0) * _tmp1 + _tmp22 - _tmp41 - _tmp9); - _ky(3, 0) = _tmp53 * (-P(3, 1) * _tmp5 + _tmp2 + _tmp27 + _tmp34); - _ky(4, 0) = _tmp53 * (-P(4, 0) * _tmp1 - P(4, 1) * _tmp5 - P(4, 2) * _tmp7 - P(4, 3) * _tmp3); - _ky(5, 0) = _tmp53 * (-P(5, 0) * _tmp1 - P(5, 1) * _tmp5 - P(5, 2) * _tmp7 - P(5, 3) * _tmp3); - _ky(6, 0) = _tmp53 * (-P(6, 0) * _tmp1 - P(6, 1) * _tmp5 - P(6, 2) * _tmp7 - P(6, 3) * _tmp3); - _ky(7, 0) = _tmp53 * (-P(7, 0) * _tmp1 - P(7, 1) * _tmp5 - P(7, 2) * _tmp7 - P(7, 3) * _tmp3); - _ky(8, 0) = _tmp53 * (-P(8, 2) * _tmp7 - _tmp47 * state(2, 0) - _tmp48 * state(1, 0) - - _tmp49 * state(0, 0)); + _ky(0, 0) = _tmp51 * (-P(0, 2) * _tmp7 - _tmp15 + _tmp19 + _tmp38); + _ky(1, 0) = _tmp51 * (-P(1, 3) * _tmp3 + _tmp13 + _tmp26 - _tmp33); + _ky(2, 0) = _tmp51 * (-P(2, 0) * _tmp1 + _tmp22 - _tmp41 - _tmp9); + _ky(3, 0) = _tmp51 * (-P(3, 1) * _tmp5 + _tmp2 + _tmp27 + _tmp34); + _ky(4, 0) = + _tmp51 * (-P(4, 1) * _tmp5 - P(4, 2) * _tmp7 - P(4, 3) * _tmp3 - _tmp52 * state(1, 0)); + _ky(5, 0) = _tmp51 * (-P(5, 0) * _tmp1 - P(5, 1) * _tmp5 - P(5, 2) * _tmp7 - P(5, 3) * _tmp3); + _ky(6, 0) = _tmp51 * (-P(6, 0) * _tmp1 - P(6, 1) * _tmp5 - P(6, 2) * _tmp7 - P(6, 3) * _tmp3); + _ky(7, 0) = _tmp51 * (-P(7, 0) * _tmp1 - P(7, 1) * _tmp5 - P(7, 2) * _tmp7 - P(7, 3) * _tmp3); + _ky(8, 0) = + _tmp51 * (-P(8, 1) * _tmp5 - P(8, 2) * _tmp7 - _tmp45 * state(2, 0) - _tmp46 * state(1, 0)); _ky(9, 0) = - _tmp53 * (-P(9, 1) * _tmp5 - P(9, 2) * _tmp7 - P(9, 3) * _tmp3 - _tmp52 * state(1, 0)); + _tmp51 * (-P(9, 1) * _tmp5 - P(9, 2) * _tmp7 - _tmp48 * state(2, 0) - _tmp50 * state(1, 0)); _ky(10, 0) = - _tmp53 * (-P(10, 0) * _tmp1 - P(10, 1) * _tmp5 - P(10, 2) * _tmp7 - P(10, 3) * _tmp3); + _tmp51 * (-P(10, 0) * _tmp1 - P(10, 1) * _tmp5 - P(10, 2) * _tmp7 - P(10, 3) * _tmp3); _ky(11, 0) = - _tmp53 * (-P(11, 0) * _tmp1 - P(11, 1) * _tmp5 - P(11, 2) * _tmp7 - P(11, 3) * _tmp3); + _tmp51 * (-P(11, 0) * _tmp1 - P(11, 1) * _tmp5 - P(11, 2) * _tmp7 - P(11, 3) * _tmp3); _ky(12, 0) = - _tmp53 * (-P(12, 0) * _tmp1 - P(12, 1) * _tmp5 - P(12, 2) * _tmp7 - P(12, 3) * _tmp3); + _tmp51 * (-P(12, 0) * _tmp1 - P(12, 1) * _tmp5 - P(12, 2) * _tmp7 - P(12, 3) * _tmp3); _ky(13, 0) = - _tmp53 * (-P(13, 0) * _tmp1 - P(13, 1) * _tmp5 - P(13, 2) * _tmp7 - P(13, 3) * _tmp3); + _tmp51 * (-P(13, 0) * _tmp1 - P(13, 1) * _tmp5 - P(13, 2) * _tmp7 - P(13, 3) * _tmp3); _ky(14, 0) = - _tmp53 * (-P(14, 0) * _tmp1 - P(14, 1) * _tmp5 - P(14, 2) * _tmp7 - P(14, 3) * _tmp3); + _tmp51 * (-P(14, 0) * _tmp1 - P(14, 1) * _tmp5 - P(14, 2) * _tmp7 - P(14, 3) * _tmp3); _ky(15, 0) = - _tmp53 * (-P(15, 0) * _tmp1 - P(15, 1) * _tmp5 - P(15, 2) * _tmp7 - P(15, 3) * _tmp3); + _tmp51 * (-P(15, 0) * _tmp1 - P(15, 1) * _tmp5 - P(15, 2) * _tmp7 - P(15, 3) * _tmp3); _ky(16, 0) = - _tmp53 * (-P(16, 0) * _tmp1 - P(16, 1) * _tmp5 - P(16, 2) * _tmp7 - P(16, 3) * _tmp3); + _tmp51 * (-P(16, 0) * _tmp1 - P(16, 1) * _tmp5 - P(16, 2) * _tmp7 - P(16, 3) * _tmp3); _ky(17, 0) = - _tmp53 * (-P(17, 0) * _tmp1 - P(17, 1) * _tmp5 - P(17, 2) * _tmp7 - P(17, 3) * _tmp3); + _tmp51 * (-P(17, 0) * _tmp1 - P(17, 1) * _tmp5 - P(17, 2) * _tmp7 - P(17, 3) * _tmp3); _ky(18, 0) = - _tmp53 * (-P(18, 0) * _tmp1 - P(18, 1) * _tmp5 - P(18, 2) * _tmp7 - P(18, 3) * _tmp3); + _tmp51 * (-P(18, 0) * _tmp1 - P(18, 1) * _tmp5 - P(18, 2) * _tmp7 - P(18, 3) * _tmp3); _ky(19, 0) = - _tmp53 * (-P(19, 0) * _tmp1 - P(19, 1) * _tmp5 - P(19, 2) * _tmp7 - P(19, 3) * _tmp3); + _tmp51 * (-P(19, 0) * _tmp1 - P(19, 1) * _tmp5 - P(19, 2) * _tmp7 - P(19, 3) * _tmp3); _ky(20, 0) = - _tmp53 * (-P(20, 0) * _tmp1 - P(20, 1) * _tmp5 - P(20, 2) * _tmp7 - P(20, 3) * _tmp3); + _tmp51 * (-P(20, 0) * _tmp1 - P(20, 1) * _tmp5 - P(20, 2) * _tmp7 - P(20, 3) * _tmp3); _ky(21, 0) = - _tmp53 * (-P(21, 0) * _tmp1 - P(21, 1) * _tmp5 - P(21, 2) * _tmp7 - P(21, 3) * _tmp3); + _tmp51 * (-P(21, 0) * _tmp1 - P(21, 1) * _tmp5 - P(21, 2) * _tmp7 - P(21, 3) * _tmp3); _ky(22, 0) = - _tmp53 * (-P(22, 0) * _tmp1 - P(22, 1) * _tmp5 - P(22, 2) * _tmp7 - P(22, 3) * _tmp3); + _tmp51 * (-P(22, 0) * _tmp1 - P(22, 1) * _tmp5 - P(22, 2) * _tmp7 - P(22, 3) * _tmp3); _ky(23, 0) = - _tmp53 * (-P(23, 0) * _tmp1 - P(23, 1) * _tmp5 - P(23, 2) * _tmp7 - P(23, 3) * _tmp3); + _tmp51 * (-P(23, 0) * _tmp1 - P(23, 1) * _tmp5 - P(23, 2) * _tmp7 - P(23, 3) * _tmp3); } if (Kz != nullptr) { matrix::Matrix& _kz = (*Kz); - _kz(0, 0) = _tmp54 * (-P(0, 3) * _tmp7 + _tmp11 + _tmp24 + _tmp31); - _kz(1, 0) = _tmp54 * (P(1, 2) * _tmp3 + _tmp16 + _tmp20 + _tmp39); - _kz(2, 0) = _tmp54 * (P(2, 1) * _tmp1 + _tmp29 + _tmp36 - _tmp6); - _kz(3, 0) = _tmp54 * (-P(3, 0) * _tmp5 + _tmp21 + _tmp40 + _tmp8); + _kz(0, 0) = _tmp53 * (-P(0, 3) * _tmp7 + _tmp11 + _tmp24 + _tmp31); + _kz(1, 0) = _tmp53 * (P(1, 2) * _tmp3 + _tmp16 + _tmp20 + _tmp39); + _kz(2, 0) = _tmp53 * (P(2, 1) * _tmp1 + _tmp29 + _tmp36 - _tmp6); + _kz(3, 0) = _tmp53 * (-P(3, 0) * _tmp5 + _tmp21 + _tmp40 + _tmp8); _kz(4, 0) = - _tmp54 * (P(4, 1) * _tmp1 - P(4, 3) * _tmp7 - _tmp45 * state(0, 0) + _tmp46 * state(2, 0)); - _kz(5, 0) = _tmp54 * (-P(5, 0) * _tmp5 + P(5, 1) * _tmp1 + P(5, 2) * _tmp3 - P(5, 3) * _tmp7); - _kz(6, 0) = _tmp54 * (-P(6, 0) * _tmp5 + P(6, 1) * _tmp1 + P(6, 2) * _tmp3 - P(6, 3) * _tmp7); - _kz(7, 0) = _tmp54 * (-P(7, 0) * _tmp5 + P(7, 1) * _tmp1 + P(7, 2) * _tmp3 - P(7, 3) * _tmp7); - _kz(8, 0) = _tmp54 * (-P(8, 3) * _tmp7 - _tmp48 * state(0, 0) + _tmp49 * state(1, 0) + - _tmp50 * state(2, 0)); + _tmp53 * (P(4, 1) * _tmp1 + P(4, 2) * _tmp3 - P(4, 3) * _tmp7 - _tmp52 * state(0, 0)); + _kz(5, 0) = _tmp53 * (-P(5, 0) * _tmp5 + P(5, 1) * _tmp1 + P(5, 2) * _tmp3 - P(5, 3) * _tmp7); + _kz(6, 0) = _tmp53 * (-P(6, 0) * _tmp5 + P(6, 1) * _tmp1 + P(6, 2) * _tmp3 - P(6, 3) * _tmp7); + _kz(7, 0) = _tmp53 * (-P(7, 0) * _tmp5 + P(7, 1) * _tmp1 + P(7, 2) * _tmp3 - P(7, 3) * _tmp7); + _kz(8, 0) = + _tmp53 * (P(8, 1) * _tmp1 - P(8, 3) * _tmp7 - _tmp46 * state(0, 0) + _tmp47 * state(2, 0)); _kz(9, 0) = - _tmp54 * (P(9, 1) * _tmp1 - P(9, 3) * _tmp7 + _tmp51 * state(2, 0) - _tmp52 * state(0, 0)); + _tmp53 * (P(9, 1) * _tmp1 - P(9, 3) * _tmp7 + _tmp49 * state(2, 0) - _tmp50 * state(0, 0)); _kz(10, 0) = - _tmp54 * (-P(10, 0) * _tmp5 + P(10, 1) * _tmp1 + P(10, 2) * _tmp3 - P(10, 3) * _tmp7); + _tmp53 * (-P(10, 0) * _tmp5 + P(10, 1) * _tmp1 + P(10, 2) * _tmp3 - P(10, 3) * _tmp7); _kz(11, 0) = - _tmp54 * (-P(11, 0) * _tmp5 + P(11, 1) * _tmp1 + P(11, 2) * _tmp3 - P(11, 3) * _tmp7); + _tmp53 * (-P(11, 0) * _tmp5 + P(11, 1) * _tmp1 + P(11, 2) * _tmp3 - P(11, 3) * _tmp7); _kz(12, 0) = - _tmp54 * (-P(12, 0) * _tmp5 + P(12, 1) * _tmp1 + P(12, 2) * _tmp3 - P(12, 3) * _tmp7); + _tmp53 * (-P(12, 0) * _tmp5 + P(12, 1) * _tmp1 + P(12, 2) * _tmp3 - P(12, 3) * _tmp7); _kz(13, 0) = - _tmp54 * (-P(13, 0) * _tmp5 + P(13, 1) * _tmp1 + P(13, 2) * _tmp3 - P(13, 3) * _tmp7); + _tmp53 * (-P(13, 0) * _tmp5 + P(13, 1) * _tmp1 + P(13, 2) * _tmp3 - P(13, 3) * _tmp7); _kz(14, 0) = - _tmp54 * (-P(14, 0) * _tmp5 + P(14, 1) * _tmp1 + P(14, 2) * _tmp3 - P(14, 3) * _tmp7); + _tmp53 * (-P(14, 0) * _tmp5 + P(14, 1) * _tmp1 + P(14, 2) * _tmp3 - P(14, 3) * _tmp7); _kz(15, 0) = - _tmp54 * (-P(15, 0) * _tmp5 + P(15, 1) * _tmp1 + P(15, 2) * _tmp3 - P(15, 3) * _tmp7); + _tmp53 * (-P(15, 0) * _tmp5 + P(15, 1) * _tmp1 + P(15, 2) * _tmp3 - P(15, 3) * _tmp7); _kz(16, 0) = - _tmp54 * (-P(16, 0) * _tmp5 + P(16, 1) * _tmp1 + P(16, 2) * _tmp3 - P(16, 3) * _tmp7); + _tmp53 * (-P(16, 0) * _tmp5 + P(16, 1) * _tmp1 + P(16, 2) * _tmp3 - P(16, 3) * _tmp7); _kz(17, 0) = - _tmp54 * (-P(17, 0) * _tmp5 + P(17, 1) * _tmp1 + P(17, 2) * _tmp3 - P(17, 3) * _tmp7); + _tmp53 * (-P(17, 0) * _tmp5 + P(17, 1) * _tmp1 + P(17, 2) * _tmp3 - P(17, 3) * _tmp7); _kz(18, 0) = - _tmp54 * (-P(18, 0) * _tmp5 + P(18, 1) * _tmp1 + P(18, 2) * _tmp3 - P(18, 3) * _tmp7); + _tmp53 * (-P(18, 0) * _tmp5 + P(18, 1) * _tmp1 + P(18, 2) * _tmp3 - P(18, 3) * _tmp7); _kz(19, 0) = - _tmp54 * (-P(19, 0) * _tmp5 + P(19, 1) * _tmp1 + P(19, 2) * _tmp3 - P(19, 3) * _tmp7); + _tmp53 * (-P(19, 0) * _tmp5 + P(19, 1) * _tmp1 + P(19, 2) * _tmp3 - P(19, 3) * _tmp7); _kz(20, 0) = - _tmp54 * (-P(20, 0) * _tmp5 + P(20, 1) * _tmp1 + P(20, 2) * _tmp3 - P(20, 3) * _tmp7); + _tmp53 * (-P(20, 0) * _tmp5 + P(20, 1) * _tmp1 + P(20, 2) * _tmp3 - P(20, 3) * _tmp7); _kz(21, 0) = - _tmp54 * (-P(21, 0) * _tmp5 + P(21, 1) * _tmp1 + P(21, 2) * _tmp3 - P(21, 3) * _tmp7); + _tmp53 * (-P(21, 0) * _tmp5 + P(21, 1) * _tmp1 + P(21, 2) * _tmp3 - P(21, 3) * _tmp7); _kz(22, 0) = - _tmp54 * (-P(22, 0) * _tmp5 + P(22, 1) * _tmp1 + P(22, 2) * _tmp3 - P(22, 3) * _tmp7); + _tmp53 * (-P(22, 0) * _tmp5 + P(22, 1) * _tmp1 + P(22, 2) * _tmp3 - P(22, 3) * _tmp7); _kz(23, 0) = - _tmp54 * (-P(23, 0) * _tmp5 + P(23, 1) * _tmp1 + P(23, 2) * _tmp3 - P(23, 3) * _tmp7); + _tmp53 * (-P(23, 0) * _tmp5 + P(23, 1) * _tmp1 + P(23, 2) * _tmp3 - P(23, 3) * _tmp7); } } // NOLINT(readability/fn_size)