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Simplify covariance getters

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kamilritz
2020-01-02 19:26:57 +11:00
committed by Paul Riseborough
parent 0d0f46ec1c
commit 9f053cb8c1
1 changed files with 5 additions and 5 deletions
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EKF/ekf.h
+5 -5
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@@ -147,19 +147,19 @@ public:
void get_true_airspeed(float *tas) override;
// get the full covariance matrix
matrix::SquareMatrix<float, 24> covariances() const { return matrix::SquareMatrix<float, _k_num_states>(P); }
matrix::SquareMatrix<float, 24> covariances() const { return P; }
// get the diagonal elements of the covariance matrix
matrix::Vector<float, 24> covariances_diagonal() const { return covariances().diag(); }
matrix::Vector<float, 24> covariances_diagonal() const { return P.diag(); }
// get the orientation (quaterion) covariances
matrix::SquareMatrix<float, 4> orientation_covariances() const { return covariances().slice<4, 4>(0, 0); }
matrix::SquareMatrix<float, 4> orientation_covariances() const { return P.slice<4, 4>(0, 0); }
// get the linear velocity covariances
matrix::SquareMatrix<float, 3> velocity_covariances() const { return covariances().slice<3, 3>(4, 4); }
matrix::SquareMatrix<float, 3> velocity_covariances() const { return P.slice<3, 3>(4, 4); }
// get the position covariances
matrix::SquareMatrix<float, 3> position_covariances() const { return covariances().slice<3, 3>(7, 7); }
matrix::SquareMatrix<float, 3> position_covariances() const { return P.slice<3, 3>(7, 7); }
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
bool collect_gps(const gps_message &gps) override;