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ekf: Extract resetState from main reset and reinitialize

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the covariances in the init function
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bresch
2019-11-05 09:07:25 +01:00
committed by Mathieu Bresciani
parent bf48004fb9
commit a6840655e8
3 changed files with 30 additions and 14 deletions
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EKF/estimator_interface.h
+2
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@@ -60,6 +60,8 @@ public:
virtual bool init(uint64_t timestamp) = 0;
virtual void reset(uint64_t timestamp) = 0;
virtual void resetStates() = 0;
virtual void resetStatesAndCovariances() = 0;
virtual bool update() = 0;
// gets the innovations of velocity and position measurements