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EKF: Prevent potential divide by zero

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This commit is contained in:
Paul Riseborough
2016-06-30 17:03:44 +10:00
parent eb2afc522d
commit f5e9ea1626
1 changed files with 21 additions and 15 deletions
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EKF/ekf_helper.cpp
+21 -15
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@@ -815,21 +815,27 @@ Vector3f Ekf::calcRotVecVariances()
float t3 = acos(q0);
float t4 = -t2+1.0f;
float t5 = t2-1.0f;
float t6 = 1.0f/t5;
float t7 = q1*t6*2.0f;
float t8 = 1.0f/powf(t4,1.5f);
float t9 = q0*q1*t3*t8*2.0f;
float t10 = t7+t9;
float t11 = 1.0f/sqrtf(t4);
float t12 = q2*t6*2.0f;
float t13 = q0*q2*t3*t8*2.0f;
float t14 = t12+t13;
float t15 = q3*t6*2.0f;
float t16 = q0*q3*t3*t8*2.0f;
float t17 = t15+t16;
rot_var_vec(0) = t10*(P[0][0]*t10+P[1][0]*t3*t11*2.0f)+t3*t11*(P[0][1]*t10+P[1][1]*t3*t11*2.0f)*2.0f;
rot_var_vec(1) = t14*(P[0][0]*t14+P[2][0]*t3*t11*2.0f)+t3*t11*(P[0][2]*t14+P[2][2]*t3*t11*2.0f)*2.0f;
rot_var_vec(2) = t17*(P[0][0]*t17+P[3][0]*t3*t11*2.0f)+t3*t11*(P[0][3]*t17+P[3][3]*t3*t11*2.0f)*2.0f;
if ((t4 > 1e-9f) && (t5 < -1e-9f)) {
float t6 = 1.0f/t5;
float t7 = q1*t6*2.0f;
float t8 = 1.0f/powf(t4,1.5f);
float t9 = q0*q1*t3*t8*2.0f;
float t10 = t7+t9;
float t11 = 1.0f/sqrtf(t4);
float t12 = q2*t6*2.0f;
float t13 = q0*q2*t3*t8*2.0f;
float t14 = t12+t13;
float t15 = q3*t6*2.0f;
float t16 = q0*q3*t3*t8*2.0f;
float t17 = t15+t16;
rot_var_vec(0) = t10*(P[0][0]*t10+P[1][0]*t3*t11*2.0f)+t3*t11*(P[0][1]*t10+P[1][1]*t3*t11*2.0f)*2.0f;
rot_var_vec(1) = t14*(P[0][0]*t14+P[2][0]*t3*t11*2.0f)+t3*t11*(P[0][2]*t14+P[2][2]*t3*t11*2.0f)*2.0f;
rot_var_vec(2) = t17*(P[0][0]*t17+P[3][0]*t3*t11*2.0f)+t3*t11*(P[0][3]*t17+P[3][3]*t3*t11*2.0f)*2.0f;
} else {
rot_var_vec(0) = 4.0f * P[1][1];
rot_var_vec(1) = 4.0f * P[2][2];
rot_var_vec(2) = 4.0f * P[3][3];
}
return rot_var_vec;
}