Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 73:5770a0d470c0
- Parent:
- 71:56c32be982b8
- Child:
- 74:f5fe7fecbd3c
--- a/solaESKF.hpp Fri Nov 19 14:24:09 2021 +0000 +++ b/solaESKF.hpp Sun Nov 21 08:24:40 2021 +0000 @@ -30,6 +30,7 @@ void setDiag(Matrix& mat, float val); void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex); + float wrap_pi(float x); public: @@ -67,7 +68,7 @@ void updateOtherConstraints(Matrix mag,float palt,Matrix R); void updateAcc(Matrix acc,Matrix R); void updateMag(Matrix mag,Matrix R); - void updateHeading(Matrix mag,Matrix R); + void updateHeading(float a,Matrix R); void fuseErr2Nominal(); void computeDcm(Matrix& dcm, Matrix quat);