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EKF trivial code style cleanup

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Daniel Agar
2017-08-25 10:09:11 -04:00
parent 89236ef275
commit 99ba1c3745
12 changed files with 295 additions and 289 deletions
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EKF/optflow_fusion.cpp
+1 -1
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@@ -76,7 +76,7 @@ void Ekf::fuseOptFlow()
Vector3f pos_offset_body = _params.flow_pos_body - _params.imu_pos_body;
// calculate the velocity of the sensor reelative to the imu in body frame
Vector3f vel_rel_imu_body = cross_product(_flow_sample_delayed.gyroXYZ , pos_offset_body);
Vector3f vel_rel_imu_body = cross_product(_flow_sample_delayed.gyroXYZ, pos_offset_body);
// calculate the velocity of the sensor in the earth frame
Vector3f vel_rel_earth = _state.vel + _R_to_earth * vel_rel_imu_body;