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EKF: remove virtual getters from estimator_interface

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This commit is contained in:
Daniel Agar
2020-11-01 11:39:34 -05:00
parent 48a8992caf
commit a21092804a
9 changed files with 195 additions and 402 deletions
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EKF/estimator_interface.cpp
-8
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@@ -567,13 +567,6 @@ void EstimatorInterface::unallocate_buffers()
_output_vert_buffer.unallocate();
_drag_buffer.unallocate();
_auxvel_buffer.unallocate();
}
bool EstimatorInterface::local_position_is_valid()
{
// return true if we are not doing unconstrained free inertial navigation
return !_deadreckon_time_exceeded;
}
bool EstimatorInterface::isOnlyActiveSourceOfHorizontalAiding(const bool aiding_flag) const
@@ -610,7 +603,6 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
void EstimatorInterface::print_status()
{
ECL_INFO("local position valid: %s", local_position_is_valid() ? "yes" : "no");
ECL_INFO("global position valid: %s", global_position_is_valid() ? "yes" : "no");
ECL_INFO("imu buffer: %d (%d Bytes)", _imu_buffer.get_length(), _imu_buffer.get_total_size());
ECL_INFO("gps buffer: %d (%d Bytes)", _gps_buffer.get_length(), _gps_buffer.get_total_size());