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EKF: Use standard C++ initializers

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Lorenz Meier
2016-01-31 23:24:36 +01:00
parent b749a7557b
commit b21a49b3f9
1 changed files with 10 additions and 10 deletions
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EKF/ekf.cpp
+10 -10
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@@ -310,11 +310,11 @@ bool Ekf::collect_imu(imuSample &imu)
// store the new sample for the complementary filter prediciton
_imu_sample_new = {
delta_ang : imu.delta_ang,
delta_vel : imu.delta_vel,
delta_ang_dt : imu.delta_ang_dt,
delta_vel_dt : imu.delta_vel_dt,
time_us : imu.time_us
.delta_ang = imu.delta_ang,
.delta_vel = imu.delta_vel,
.delta_ang_dt = imu.delta_ang_dt,
.delta_vel_dt = imu.delta_vel_dt,
.time_us = imu.time_us
};
_imu_down_sampled.delta_ang_dt += imu.delta_ang_dt;
@@ -333,11 +333,11 @@ bool Ekf::collect_imu(imuSample &imu)
if ((_dt_imu_avg * _imu_ticks >= (float)(FILTER_UPDATE_PERRIOD_MS) / 1000) ||
_dt_imu_avg * _imu_ticks >= 0.02f){
imu = {
delta_ang : _q_down_sampled.to_axis_angle(),
delta_vel : _imu_down_sampled.delta_vel,
delta_ang_dt : _imu_down_sampled.delta_ang_dt,
delta_vel_dt : _imu_down_sampled.delta_vel_dt,
time_us : imu.time_us
.delta_ang = _q_down_sampled.to_axis_angle(),
.delta_vel = _imu_down_sampled.delta_vel,
.delta_ang_dt = _imu_down_sampled.delta_ang_dt,
.delta_vel_dt = _imu_down_sampled.delta_vel_dt,
.time_us = imu.time_us
};
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();