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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/estimator_interface.h
+36 -37
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@@ -68,54 +68,53 @@ public:
virtual bool update() = 0;
virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
virtual void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
virtual void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const = 0;
virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
virtual void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
virtual void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const = 0;
virtual void getBaroHgtInnov(float &baro_hgt_innov) = 0;
virtual void getBaroHgtInnovVar(float &baro_hgt_innov_var) = 0;
virtual void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) = 0;
virtual void getBaroHgtInnov(float &baro_hgt_innov) const = 0;
virtual void getBaroHgtInnovVar(float &baro_hgt_innov_var) const = 0;
virtual void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const = 0;
virtual void getRngHgtInnov(float &rng_hgt_innov) = 0;
virtual void getRngHgtInnovVar(float &rng_hgt_innov_var) = 0;
virtual void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) = 0;
virtual void getRngHgtInnov(float &rng_hgt_innov) const = 0;
virtual void getRngHgtInnovVar(float &rng_hgt_innov_var) const = 0;
virtual void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const = 0;
virtual void getAuxVelInnov(float aux_vel_innov[2]) = 0;
virtual void getAuxVelInnovVar(float aux_vel_innov[2]) = 0;
virtual void getAuxVelInnovRatio(float &aux_vel_innov_ratio) = 0;
virtual void getAuxVelInnov(float aux_vel_innov[2]) const = 0;
virtual void getAuxVelInnovVar(float aux_vel_innov[2]) const = 0;
virtual void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const = 0;
virtual void getFlowInnov(float flow_innov[2]) = 0;
virtual void getFlowInnovVar(float flow_innov_var[2]) = 0;
virtual void getFlowInnovRatio(float &flow_innov_ratio) = 0;
virtual void getFlowInnov(float flow_innov[2]) const = 0;
virtual void getFlowInnovVar(float flow_innov_var[2]) const = 0;
virtual void getFlowInnovRatio(float &flow_innov_ratio) const = 0;
virtual void getHeadingInnov(float &heading_innov) = 0;
virtual void getHeadingInnovVar(float &heading_innov_var) = 0;
virtual void getHeadingInnovRatio(float &heading_innov_ratio) = 0;
virtual void getHeadingInnov(float &heading_innov) const = 0;
virtual void getHeadingInnovVar(float &heading_innov_var) const = 0;
virtual void getHeadingInnovRatio(float &heading_innov_ratio) const = 0;
virtual void getMagInnov(float mag_innov[3]) = 0;
virtual void getMagInnovVar(float mag_innov_var[3]) = 0;
virtual void getMagInnovRatio(float &mag_innov_ratio) = 0;
virtual void getMagInnov(float mag_innov[3]) const = 0;
virtual void getMagInnovVar(float mag_innov_var[3]) const = 0;
virtual void getMagInnovRatio(float &mag_innov_ratio) const = 0;
virtual void getDragInnov(float drag_innov[2]) = 0;
virtual void getDragInnovVar(float drag_innov_var[2]) = 0;
virtual void getDragInnovRatio(float drag_innov_ratio[2]) = 0;
virtual void getDragInnov(float drag_innov[2]) const = 0;
virtual void getDragInnovVar(float drag_innov_var[2]) const = 0;
virtual void getDragInnovRatio(float drag_innov_ratio[2]) const = 0;
virtual void getAirspeedInnov(float &airspeed_innov) = 0;
virtual void getAirspeedInnovVar(float &get_airspeed_innov_var) = 0;
virtual void getAirspeedInnovRatio(float &airspeed_innov_ratio) = 0;
virtual void getAirspeedInnov(float &airspeed_innov) const = 0;
virtual void getAirspeedInnovVar(float &get_airspeed_innov_var) const = 0;
virtual void getAirspeedInnovRatio(float &airspeed_innov_ratio) const = 0;
virtual void getBetaInnov(float &beta_innov) = 0;
virtual void getBetaInnovVar(float &get_beta_innov_var) = 0;
virtual void getBetaInnovRatio(float &beta_innov_ratio) = 0;
virtual void getHaglInnov(float &hagl_innov) = 0;
virtual void getHaglInnovVar(float &hagl_innov_var) = 0;
virtual void getHaglInnovRatio(float &hagl_innov_ratio) = 0;
virtual void getBetaInnov(float &beta_innov) const = 0;
virtual void getBetaInnovVar(float &get_beta_innov_var) const = 0;
virtual void getBetaInnovRatio(float &beta_innov_ratio) const = 0;
virtual void getHaglInnov(float &hagl_innov) const = 0;
virtual void getHaglInnovVar(float &hagl_innov_var) const = 0;
virtual void getHaglInnovRatio(float &hagl_innov_ratio) const = 0;
virtual void get_state_delayed(float *state) = 0;