From 9f053cb8c14dcafd7c6116333f651503a380c091 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Thu, 19 Dec 2019 16:23:54 +0100 Subject: [PATCH] Simplify covariance getters --- EKF/ekf.h | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/EKF/ekf.h b/EKF/ekf.h index 40e12d099e..d8931d42fd 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -147,19 +147,19 @@ public: void get_true_airspeed(float *tas) override; // get the full covariance matrix - matrix::SquareMatrix covariances() const { return matrix::SquareMatrix(P); } + matrix::SquareMatrix covariances() const { return P; } // get the diagonal elements of the covariance matrix - matrix::Vector covariances_diagonal() const { return covariances().diag(); } + matrix::Vector covariances_diagonal() const { return P.diag(); } // get the orientation (quaterion) covariances - matrix::SquareMatrix orientation_covariances() const { return covariances().slice<4, 4>(0, 0); } + matrix::SquareMatrix orientation_covariances() const { return P.slice<4, 4>(0, 0); } // get the linear velocity covariances - matrix::SquareMatrix velocity_covariances() const { return covariances().slice<3, 3>(4, 4); } + matrix::SquareMatrix velocity_covariances() const { return P.slice<3, 3>(4, 4); } // get the position covariances - matrix::SquareMatrix position_covariances() const { return covariances().slice<3, 3>(7, 7); } + matrix::SquareMatrix 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;