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Add const modifier

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const modifier


Add missing const modifier
This commit is contained in:
kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent e357376797
commit b5e1397c0f
11 changed files with 65 additions and 70 deletions
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EKF/utils.cpp
+12 -12
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@@ -26,24 +26,24 @@ matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312)
float kahanSummation(float sum_previous, float input, float &accumulator)
{
float y = input - accumulator;
float t = sum_previous + y;
const float y = input - accumulator;
const float t = sum_previous + y;
accumulator = (t - sum_previous) - y;
return t;
}
matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat)
{
float q00 = quat(0) * quat(0);
float q11 = quat(1) * quat(1);
float q22 = quat(2) * quat(2);
float q33 = quat(3) * quat(3);
float q01 = quat(0) * quat(1);
float q02 = quat(0) * quat(2);
float q03 = quat(0) * quat(3);
float q12 = quat(1) * quat(2);
float q13 = quat(1) * quat(3);
float q23 = quat(2) * quat(3);
const float q00 = quat(0) * quat(0);
const float q11 = quat(1) * quat(1);
const float q22 = quat(2) * quat(2);
const float q33 = quat(3) * quat(3);
const float q01 = quat(0) * quat(1);
const float q02 = quat(0) * quat(2);
const float q03 = quat(0) * quat(3);
const float q12 = quat(1) * quat(2);
const float q13 = quat(1) * quat(3);
const float q23 = quat(2) * quat(3);
matrix::Dcmf dcm;
dcm(0, 0) = q00 + q11 - q22 - q33;