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EKF: replace in-line code with existing function

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Paul Riseborough
2016-05-03 22:44:30 +10:00
parent 727a43764f
commit fd109b00ab
1 changed files with 1 additions and 6 deletions
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EKF/covariance.cpp
+1 -6
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@@ -211,12 +211,7 @@ void Ekf::predictCovariance()
dvxVar = dvyVar = dvzVar = sq(dt * accel_noise);
// force symmetry on the covariance matrix before we use it for the prediction step
for (unsigned row = 1; row < _k_num_states; row++) {
for (unsigned column = 0; column < row; column++) {
P[row][column] = 0.5f * (P[row][column] + P[column][row]);
P[column][row] = P[row][column];
}
}
makeSymmetrical();
// predict the covariance