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EKF: Fix build error

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This commit is contained in:
Paul Riseborough
2017-11-13 07:05:56 +11:00
parent 44c50ab2df
commit df9f48d2d3
1 changed files with 4 additions and 5 deletions
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EKF/ekf_helper.cpp
+4 -5
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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) 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; uint8_t row;
float variances[last-first+1]; float variances[_k_num_states];
for (row = first; row <= last; row++) { for (row = first; row <= last; row++) {
variances[row-first] = cov_mat[row][row]; variances[row] = cov_mat[row][row];
} }
// zero rows and columns // 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 // restore diagonals
for (row = first; row <= last; row++) { 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) void Ekf::setDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last, float variance)