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EKF: Fix build error

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This commit is contained in:
Paul Riseborough 2017-11-10 07:15:03 +11:00
parent 44c50ab2df
commit df9f48d2d3
1 changed files with 4 additions and 5 deletions
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9
EKF/ekf_helper.cpp
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@ -1220,11 +1220,11 @@ void Ekf::zeroCols(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first
void Ekf::zeroOffDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last)
{
// store diagonals
// save diagonal elements
uint8_t row;
float variances[last-first+1];
float variances[_k_num_states];
for (row = first; row <= last; row++) {
variances[row-first] = cov_mat[row][row];
variances[row] = cov_mat[row][row];
}
// zero rows and columns
@ -1233,9 +1233,8 @@ void Ekf::zeroOffDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t fi
// restore diagonals
for (row = first; row <= last; row++) {
cov_mat[row][row] = variances[row-first];
cov_mat[row][row] = variances[row];
}
}
void Ekf::setDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last, float variance)