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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_helper.cpp
+36 -36
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@@ -661,7 +661,7 @@ Vector3f Ekf::calcEarthRateNED(float lat_rad) const
-CONSTANTS_EARTH_SPIN_RATE * sinf(lat_rad));
}
void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos)
void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _gps_vel_innov(0);
hvel[1] = _gps_vel_innov(1);
@@ -671,7 +671,7 @@ void Ekf::getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &v
vpos = _gps_pos_innov(2);
}
void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos)
void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _gps_vel_innov_var(0);
hvel[1] = _gps_vel_innov_var(1);
@@ -681,7 +681,7 @@ void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float
vpos = _gps_pos_innov_var(2);
}
void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos)
void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const
{
hvel = _gps_vel_test_ratio(0);
vvel = _gps_vel_test_ratio(1);
@@ -689,7 +689,7 @@ void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &v
vpos = _gps_pos_test_ratio(1);
}
void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos)
void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _ev_vel_innov(0);
hvel[1] = _ev_vel_innov(1);
@@ -699,7 +699,7 @@ void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpo
vpos = _ev_pos_innov(2);
}
void Ekf::getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos)
void Ekf::getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _ev_vel_innov_var(0);
hvel[1] = _ev_vel_innov_var(1);
@@ -709,7 +709,7 @@ void Ekf::getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &
vpos = _ev_pos_innov_var(2);
}
void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos)
void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const
{
hvel = _ev_vel_test_ratio(0);
vvel = _ev_vel_test_ratio(1);
@@ -717,154 +717,154 @@ void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vp
vpos = _ev_pos_test_ratio(1);
}
void Ekf::getBaroHgtInnov(float &baro_hgt_innov)
void Ekf::getBaroHgtInnov(float &baro_hgt_innov) const
{
baro_hgt_innov = _baro_hgt_innov(2);
}
void Ekf::getBaroHgtInnovVar(float &baro_hgt_innov_var)
void Ekf::getBaroHgtInnovVar(float &baro_hgt_innov_var) const
{
baro_hgt_innov_var = _baro_hgt_innov_var(2);
}
void Ekf::getBaroHgtInnovRatio(float &baro_hgt_innov_ratio)
void Ekf::getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const
{
baro_hgt_innov_ratio = _baro_hgt_test_ratio(1);
}
void Ekf::getRngHgtInnov(float &rng_hgt_innov)
void Ekf::getRngHgtInnov(float &rng_hgt_innov) const
{
rng_hgt_innov = _rng_hgt_innov(2);
}
void Ekf::getRngHgtInnovVar(float &rng_hgt_innov_var)
void Ekf::getRngHgtInnovVar(float &rng_hgt_innov_var) const
{
rng_hgt_innov_var = _rng_hgt_innov_var(2);
}
void Ekf::getRngHgtInnovRatio(float &rng_hgt_innov_ratio)
void Ekf::getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const
{
rng_hgt_innov_ratio = _rng_hgt_test_ratio(1);
}
void Ekf::getAuxVelInnov(float aux_vel_innov[2])
void Ekf::getAuxVelInnov(float aux_vel_innov[2]) const
{
aux_vel_innov[0] = _aux_vel_innov(0);
aux_vel_innov[1] = _aux_vel_innov(1);
}
void Ekf::getAuxVelInnovVar(float aux_vel_innov_var[2])
void Ekf::getAuxVelInnovVar(float aux_vel_innov_var[2]) const
{
aux_vel_innov_var[0] = _aux_vel_innov_var(0);
aux_vel_innov_var[1] = _aux_vel_innov_var(1);
}
void Ekf::getAuxVelInnovRatio(float &aux_vel_innov_ratio)
void Ekf::getAuxVelInnovRatio(float &aux_vel_innov_ratio) const
{
aux_vel_innov_ratio = _aux_vel_test_ratio(0);
}
void Ekf::getFlowInnov(float flow_innov[2])
void Ekf::getFlowInnov(float flow_innov[2]) const
{
memcpy(flow_innov, _flow_innov, sizeof(_flow_innov));
}
void Ekf::getFlowInnovVar(float flow_innov_var[2])
void Ekf::getFlowInnovVar(float flow_innov_var[2]) const
{
memcpy(flow_innov_var, _flow_innov_var, sizeof(_flow_innov_var));
}
void Ekf::getFlowInnovRatio(float &flow_innov_ratio)
void Ekf::getFlowInnovRatio(float &flow_innov_ratio) const
{
flow_innov_ratio = _optflow_test_ratio;
}
void Ekf::getHeadingInnov(float &heading_innov)
void Ekf::getHeadingInnov(float &heading_innov) const
{
heading_innov = _heading_innov;
}
void Ekf::getHeadingInnovVar(float &heading_innov_var)
void Ekf::getHeadingInnovVar(float &heading_innov_var) const
{
heading_innov_var = _heading_innov_var;
}
void Ekf::getHeadingInnovRatio(float &heading_innov_ratio)
void Ekf::getHeadingInnovRatio(float &heading_innov_ratio) const
{
heading_innov_ratio = _yaw_test_ratio;
}
void Ekf::getMagInnov(float mag_innov[3])
void Ekf::getMagInnov(float mag_innov[3]) const
{
memcpy(mag_innov, _mag_innov, sizeof(_mag_innov));
}
void Ekf::getMagInnovVar(float mag_innov_var[3])
void Ekf::getMagInnovVar(float mag_innov_var[3]) const
{
memcpy(mag_innov_var, _mag_innov_var, sizeof(_mag_innov_var));
}
void Ekf::getMagInnovRatio(float &mag_innov_ratio)
void Ekf::getMagInnovRatio(float &mag_innov_ratio) const
{
mag_innov_ratio = math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2]);
}
void Ekf::getDragInnov(float drag_innov[2])
void Ekf::getDragInnov(float drag_innov[2]) const
{
memcpy(drag_innov, _drag_innov, sizeof(_drag_innov));
}
void Ekf::getDragInnovVar(float drag_innov_var[2])
void Ekf::getDragInnovVar(float drag_innov_var[2]) const
{
memcpy(drag_innov_var, _drag_innov_var, sizeof(_drag_innov_var));
}
void Ekf::getDragInnovRatio(float drag_innov_ratio[2])
void Ekf::getDragInnovRatio(float drag_innov_ratio[2]) const
{
memcpy(drag_innov_ratio, &_drag_test_ratio, sizeof(_drag_test_ratio));
}
void Ekf::getAirspeedInnov(float &airspeed_innov)
void Ekf::getAirspeedInnov(float &airspeed_innov) const
{
airspeed_innov = _airspeed_innov;
}
void Ekf::getAirspeedInnovVar(float &airspeed_innov_var)
void Ekf::getAirspeedInnovVar(float &airspeed_innov_var) const
{
airspeed_innov_var = _airspeed_innov_var;
}
void Ekf::getAirspeedInnovRatio(float &airspeed_innov_ratio)
void Ekf::getAirspeedInnovRatio(float &airspeed_innov_ratio) const
{
airspeed_innov_ratio = _tas_test_ratio;
}
void Ekf::getBetaInnov(float &beta_innov)
void Ekf::getBetaInnov(float &beta_innov) const
{
beta_innov = _beta_innov;
}
void Ekf::getBetaInnovVar(float &beta_innov_var)
void Ekf::getBetaInnovVar(float &beta_innov_var) const
{
beta_innov_var = _beta_innov_var;
}
void Ekf::getBetaInnovRatio(float &beta_innov_ratio)
void Ekf::getBetaInnovRatio(float &beta_innov_ratio) const
{
beta_innov_ratio = _beta_test_ratio;
}
void Ekf::getHaglInnov(float &hagl_innov)
void Ekf::getHaglInnov(float &hagl_innov) const
{
hagl_innov = _hagl_innov;
}
void Ekf::getHaglInnovVar(float &hagl_innov_var)
void Ekf::getHaglInnovVar(float &hagl_innov_var) const
{
hagl_innov_var = _hagl_innov_var;
}
void Ekf::getHaglInnovRatio(float &hagl_innov_ratio)
void Ekf::getHaglInnovRatio(float &hagl_innov_ratio) const
{
hagl_innov_ratio = _hagl_test_ratio;
}