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Innovation getters: Add const modifier

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This commit is contained in:
kamilritz
2020-03-30 13:07:00 +02:00
committed by Mathieu Bresciani
parent 89b5c77d5d
commit 72d8f91b4d
3 changed files with 108 additions and 109 deletions
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EKF/ekf.h
+36 -36
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@@ -62,77 +62,77 @@ public:
// should be called every time new data is pushed into the filter
bool update() override;
void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const override;
void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const override;
void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) override;
void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const override;
void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const override;
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) override;
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const override;
void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) override;
void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const override;
void getBaroHgtInnov(float &baro_hgt_innov) override;
void getBaroHgtInnov(float &baro_hgt_innov) const override;
void getBaroHgtInnovVar(float &baro_hgt_innov_var) override;
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const override;
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) override;
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const override;
void getRngHgtInnov(float &rng_hgt_innov) override;
void getRngHgtInnov(float &rng_hgt_innov) const override;
void getRngHgtInnovVar(float &rng_hgt_innov_var) override;
void getRngHgtInnovVar(float &rng_hgt_innov_var) const override;
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) override;
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const override;
void getAuxVelInnov(float aux_vel_innov[2]) override;
void getAuxVelInnov(float aux_vel_innov[2]) const override;
void getAuxVelInnovVar(float aux_vel_innov[2]) override;
void getAuxVelInnovVar(float aux_vel_innov[2]) const override;
void getAuxVelInnovRatio(float &aux_vel_innov_ratio) override;
void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const override;
void getFlowInnov(float flow_innov[2]) override;
void getFlowInnov(float flow_innov[2]) const override;
void getFlowInnovVar(float flow_innov_var[2]) override;
void getFlowInnovVar(float flow_innov_var[2]) const override;
void getFlowInnovRatio(float &flow_innov_ratio) override;
void getFlowInnovRatio(float &flow_innov_ratio) const override;
void getHeadingInnov(float &heading_innov) override;
void getHeadingInnov(float &heading_innov) const override;
void getHeadingInnovVar(float &heading_innov_var) override;
void getHeadingInnovVar(float &heading_innov_var) const override;
void getHeadingInnovRatio(float &heading_innov_ratio) override;
void getHeadingInnovRatio(float &heading_innov_ratio) const override;
void getMagInnov(float mag_innov[3]) override;
void getMagInnov(float mag_innov[3]) const override;
void getMagInnovVar(float mag_innov_var[3]) override;
void getMagInnovVar(float mag_innov_var[3]) const override;
void getMagInnovRatio(float &mag_innov_ratio) override;
void getMagInnovRatio(float &mag_innov_ratio) const override;
void getDragInnov(float drag_innov[2]) override;
void getDragInnov(float drag_innov[2]) const override;
void getDragInnovVar(float drag_innov_var[2]) override;
void getDragInnovVar(float drag_innov_var[2]) const override;
void getDragInnovRatio(float drag_innov_ratio[2]) override;
void getDragInnovRatio(float drag_innov_ratio[2]) const override;
void getAirspeedInnov(float &airspeed_innov) override;
void getAirspeedInnov(float &airspeed_innov) const override;
void getAirspeedInnovVar(float &airspeed_innov_var) override;
void getAirspeedInnovVar(float &airspeed_innov_var) const override;
void getAirspeedInnovRatio(float &airspeed_innov_ratio) override;
void getAirspeedInnovRatio(float &airspeed_innov_ratio) const override;
void getBetaInnov(float &beta_innov) override;
void getBetaInnov(float &beta_innov) const override;
void getBetaInnovVar(float &beta_innov_var) override;
void getBetaInnovVar(float &beta_innov_var) const override;
void getBetaInnovRatio(float &beta_innov_ratio) override;
void getBetaInnovRatio(float &beta_innov_ratio) const override;
void getHaglInnov(float &hagl_innov) override;
void getHaglInnov(float &hagl_innov) const override;
void getHaglInnovVar(float &hagl_innov_var) override;
void getHaglInnovVar(float &hagl_innov_var) const override;
void getHaglInnovRatio(float &hagl_innov_ratio) override;
void getHaglInnovRatio(float &hagl_innov_ratio) const override;
// get the state vector at the delayed time horizon
void get_state_delayed(float *state) override;