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ekf2: remove unnecessary const references

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This commit is contained in:
Daniel Agar
2022-04-29 21:39:02 -04:00
parent 4a6e958100
commit 6fc857772d
7 changed files with 69 additions and 69 deletions
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src/modules/ekf2/EKF/EKFGSF_yaw.cpp
+13 -13
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@@ -261,13 +261,13 @@ void EKFGSF_yaw::predictEKF(const uint8_t model_index)
// predict covariance - equations generated using EKF/python/gsf_ekf_yaw_estimator/main.py
// Local short variable name copies required for readability
const float &P00 = _ekf_gsf[model_index].P(0,0);
const float &P01 = _ekf_gsf[model_index].P(0,1);
const float &P02 = _ekf_gsf[model_index].P(0,2);
const float &P11 = _ekf_gsf[model_index].P(1,1);
const float &P12 = _ekf_gsf[model_index].P(1,2);
const float &P22 = _ekf_gsf[model_index].P(2,2);
const float &psi = _ekf_gsf[model_index].X(2);
const float P00 = _ekf_gsf[model_index].P(0,0);
const float P01 = _ekf_gsf[model_index].P(0,1);
const float P02 = _ekf_gsf[model_index].P(0,2);
const float P11 = _ekf_gsf[model_index].P(1,1);
const float P12 = _ekf_gsf[model_index].P(1,2);
const float P22 = _ekf_gsf[model_index].P(2,2);
const float psi = _ekf_gsf[model_index].X(2);
// Use fixed values for delta velocity and delta angle process noise variances
const float dvxVar = sq(_accel_noise * _delta_vel_dt); // variance of forward delta velocity - (m/s)^2
@@ -317,12 +317,12 @@ bool EKFGSF_yaw::updateEKF(const uint8_t model_index)
_ekf_gsf[model_index].innov(1) = _ekf_gsf[model_index].X(1) - _vel_NE(1);
// Use temporary variables for covariance elements to reduce verbosity of auto-code expressions
const float &P00 = _ekf_gsf[model_index].P(0,0);
const float &P01 = _ekf_gsf[model_index].P(0,1);
const float &P02 = _ekf_gsf[model_index].P(0,2);
const float &P11 = _ekf_gsf[model_index].P(1,1);
const float &P12 = _ekf_gsf[model_index].P(1,2);
const float &P22 = _ekf_gsf[model_index].P(2,2);
const float P00 = _ekf_gsf[model_index].P(0,0);
const float P01 = _ekf_gsf[model_index].P(0,1);
const float P02 = _ekf_gsf[model_index].P(0,2);
const float P11 = _ekf_gsf[model_index].P(1,1);
const float P12 = _ekf_gsf[model_index].P(1,2);
const float P22 = _ekf_gsf[model_index].P(2,2);
// optimized auto generated code from SymPy script src/lib/ecl/EKF/python/ekf_derivation/main.py
const float t0 = ecl::powf(P01, 2);