Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.cpp@44:7d82e63b6a86, 2021-10-26 (annotated)
- Committer:
- NaotoMorita
- Date:
- Tue Oct 26 05:33:11 2021 +0000
- Revision:
- 44:7d82e63b6a86
- Parent:
- ScErrStateEKF.cpp@43:cbc2c2d65131
- Child:
- 45:df4618814803
solaESKF
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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NaotoMorita | 44:7d82e63b6a86 | 1 | #include "solaESKF.hpp" |
NaotoMorita | 19:3fae66745363 | 2 | #include "Matrix.h" |
NaotoMorita | 19:3fae66745363 | 3 | #include "MatrixMath.h" |
NaotoMorita | 19:3fae66745363 | 4 | #include <cmath> |
NaotoMorita | 19:3fae66745363 | 5 | |
NaotoMorita | 19:3fae66745363 | 6 | |
NaotoMorita | 44:7d82e63b6a86 | 7 | solaESKF::solaESKF() |
NaotoMorita | 19:3fae66745363 | 8 | { |
NaotoMorita | 44:7d82e63b6a86 | 9 | //nominal state |
NaotoMorita | 44:7d82e63b6a86 | 10 | pihat(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 11 | vihat(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 12 | qhat(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 13 | accBias(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 14 | gyroBias(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 15 | gravity(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 16 | |
NaotoMorita | 44:7d82e63b6a86 | 17 | |
NaotoMorita | 44:7d82e63b6a86 | 18 | errState(18,1); |
NaotoMorita | 21:d6079def0473 | 19 | nState = errState.getRows(); |
NaotoMorita | 44:7d82e63b6a86 | 20 | Phat(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 21 | Q(nState,nState); |
NaotoMorita | 19:3fae66745363 | 22 | |
osaka | 39:6834e05d8a64 | 23 | setDiag(Phat,0.1f); |
NaotoMorita | 44:7d82e63b6a86 | 24 | setDiag(Q,0.01f); |
NaotoMorita | 44:7d82e63b6a86 | 25 | setBlockDiag(Q,0.0f,1,3); |
NaotoMorita | 44:7d82e63b6a86 | 26 | setBlockDiag(Q,0.00001f,16,18); |
NaotoMorita | 19:3fae66745363 | 27 | |
NaotoMorita | 19:3fae66745363 | 28 | |
NaotoMorita | 19:3fae66745363 | 29 | } |
NaotoMorita | 19:3fae66745363 | 30 | |
NaotoMorita | 44:7d82e63b6a86 | 31 | void solaESKF::updateNominal(Matrix acc, Matrix gyro,float att_dt) |
NaotoMorita | 19:3fae66745363 | 32 | { |
NaotoMorita | 44:7d82e63b6a86 | 33 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 34 | Matrix accm = acc - accBias; |
NaotoMorita | 44:7d82e63b6a86 | 35 | |
NaotoMorita | 44:7d82e63b6a86 | 36 | Matrix qint(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 37 | qint << 1.0f << gyrom(1,1)*att_dt << gyrom(2,1)*att_dt << gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 38 | qhat = quatmultiply(qhat,qint); |
NaotoMorita | 19:3fae66745363 | 39 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 40 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 41 | |
NaotoMorita | 23:1509648c2318 | 42 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 43 | computeDcm(dcm, qhat); |
NaotoMorita | 44:7d82e63b6a86 | 44 | Matrix accned = dcm*acc+gravity; |
NaotoMorita | 44:7d82e63b6a86 | 45 | vihat += accned*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 46 | |
NaotoMorita | 44:7d82e63b6a86 | 47 | pihat += vihat*att_dt+0.5f*accned*att_dt*att_dt; |
NaotoMorita | 19:3fae66745363 | 48 | } |
NaotoMorita | 19:3fae66745363 | 49 | |
NaotoMorita | 44:7d82e63b6a86 | 50 | void solaESKF::updateErrState(Matrix acc,Matrix gyro,float att_dt) |
NaotoMorita | 23:1509648c2318 | 51 | { |
NaotoMorita | 44:7d82e63b6a86 | 52 | Matrix gyrom = gyro - gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 53 | Matrix accm = acc - accBias; |
NaotoMorita | 23:1509648c2318 | 54 | |
NaotoMorita | 23:1509648c2318 | 55 | Matrix dcm(3,3); |
NaotoMorita | 23:1509648c2318 | 56 | computeDcm(dcm, qhat); |
NaotoMorita | 44:7d82e63b6a86 | 57 | |
NaotoMorita | 44:7d82e63b6a86 | 58 | Matrix Fx(nState,nState); |
NaotoMorita | 44:7d82e63b6a86 | 59 | //position |
NaotoMorita | 44:7d82e63b6a86 | 60 | Fx(1,1) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 61 | Fx(2,2) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 62 | Fx(3,3) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 63 | Fx(1,4) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 64 | Fx(2,5) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 65 | Fx(3,6) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 66 | |
NaotoMorita | 44:7d82e63b6a86 | 67 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 68 | Fx(4,4) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 69 | Fx(5,5) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 70 | Fx(6,6) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 71 | Matrix a2v = -dcm*MatrixMath::Matrixcross(acc(1,1),acc(2,1),acc(3,1))*att_dt; |
NaotoMorita | 23:1509648c2318 | 72 | for (int i = 1; i < 4; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 73 | for (int j = 1; j < 4; j++){ |
NaotoMorita | 44:7d82e63b6a86 | 74 | Fx(i+3,j+6) = a2v(i,j); |
NaotoMorita | 44:7d82e63b6a86 | 75 | Fx(i+3,j+9) = -dcm(i,j)*att_dt; |
NaotoMorita | 23:1509648c2318 | 76 | } |
NaotoMorita | 23:1509648c2318 | 77 | } |
NaotoMorita | 44:7d82e63b6a86 | 78 | Fx(4,16) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 79 | Fx(5,17) = 1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 80 | Fx(6,18) = 1.0f*att_dt; |
NaotoMorita | 23:1509648c2318 | 81 | |
NaotoMorita | 44:7d82e63b6a86 | 82 | //angulat error |
NaotoMorita | 44:7d82e63b6a86 | 83 | Fx(7,8) = gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 84 | Fx(7,9) = -gyrom(2,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 85 | Fx(8,7) = -gyrom(3,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 86 | Fx(8,9) = gyrom(1,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 87 | Fx(9,7) = gyrom(2,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 88 | Fx(9,8) = -gyrom(1,1)*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 89 | Fx(7,13) = -1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 90 | Fx(8,14) = -1.0f*att_dt; |
NaotoMorita | 44:7d82e63b6a86 | 91 | Fx(9,15) = -1.0f*att_dt; |
NaotoMorita | 25:07ac5c6cd61c | 92 | |
NaotoMorita | 44:7d82e63b6a86 | 93 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 94 | Fx(10,10) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 95 | Fx(11,11) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 96 | Fx(12,12) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 97 | |
NaotoMorita | 44:7d82e63b6a86 | 98 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 99 | Fx(13,13) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 100 | Fx(14,14) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 101 | Fx(15,15) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 102 | |
NaotoMorita | 44:7d82e63b6a86 | 103 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 104 | Fx(16,16) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 105 | Fx(17,17) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 106 | Fx(18,18) = 1.0f; |
NaotoMorita | 44:7d82e63b6a86 | 107 | |
NaotoMorita | 44:7d82e63b6a86 | 108 | errState = Fx * errState; |
NaotoMorita | 44:7d82e63b6a86 | 109 | Phat = Fx*Phat*MatrixMath::Transpose(Fx)+Q*att_dt*att_dt; |
NaotoMorita | 25:07ac5c6cd61c | 110 | } |
NaotoMorita | 25:07ac5c6cd61c | 111 | |
NaotoMorita | 44:7d82e63b6a86 | 112 | /* |
NaotoMorita | 44:7d82e63b6a86 | 113 | void solaESKF::updateGPSVelocity(float vi_x, float vi_y, float sinkRate,Vector3 acc, Vector3 accref) |
NaotoMorita | 19:3fae66745363 | 114 | { |
osaka | 40:119792aa6d3b | 115 | |
NaotoMorita | 43:cbc2c2d65131 | 116 | Matrix H(3,nState); |
NaotoMorita | 43:cbc2c2d65131 | 117 | H(1,10) = 1.0f; |
NaotoMorita | 43:cbc2c2d65131 | 118 | H(2,11) = 1.0f; |
NaotoMorita | 43:cbc2c2d65131 | 119 | H(3,12) = 1.0f; |
NaotoMorita | 43:cbc2c2d65131 | 120 | |
osaka | 40:119792aa6d3b | 121 | Matrix R(3,3); |
osaka | 40:119792aa6d3b | 122 | R(1,1) = Rgps(1,1); |
osaka | 40:119792aa6d3b | 123 | R(2,2) = Rgps(2,2); |
NaotoMorita | 43:cbc2c2d65131 | 124 | R(3,3) = Rgps(3,3); |
osaka | 40:119792aa6d3b | 125 | |
NaotoMorita | 31:e655d4d8e4d6 | 126 | Matrix K = (Phat*MatrixMath::Transpose(H))*MatrixMath::Inv(H*Phat*MatrixMath::Transpose(H)+R); |
NaotoMorita | 43:cbc2c2d65131 | 127 | Matrix z(3,1); |
NaotoMorita | 43:cbc2c2d65131 | 128 | z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1); |
osaka | 40:119792aa6d3b | 129 | //z << vi_x - vihat(1,1) << vi_y-vihat(2,1) << sinkRate - vihat(3,1); |
NaotoMorita | 26:73c3f58b9d70 | 130 | Matrix corrVal = K * (z-H*errState); |
NaotoMorita | 26:73c3f58b9d70 | 131 | errState = errState + corrVal; |
NaotoMorita | 31:e655d4d8e4d6 | 132 | Phat = (MatrixMath::Eye(nState)-K*H)*Phat*MatrixMath::Transpose(MatrixMath::Eye(nState)-K*H)+K*(R)*MatrixMath::Transpose(K); |
NaotoMorita | 19:3fae66745363 | 133 | } |
NaotoMorita | 44:7d82e63b6a86 | 134 | */ |
NaotoMorita | 44:7d82e63b6a86 | 135 | Matrix solaESKF::computeAngles() |
NaotoMorita | 25:07ac5c6cd61c | 136 | { |
NaotoMorita | 25:07ac5c6cd61c | 137 | |
NaotoMorita | 44:7d82e63b6a86 | 138 | Matrix euler(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 139 | euler(1,1) = atan2f(qhat(1,1)*qhat(2,1) + qhat(3,1)*qhat(4,1), 0.5f - qhat(2,1)*qhat(2,1) - qhat(3,1)*qhat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 140 | euler(2,1) = asinf(-2.0f * (qhat(2,1)*qhat(4,1) - qhat(1,1)*qhat(3,1))); |
NaotoMorita | 44:7d82e63b6a86 | 141 | euler(3,1) = atan2f(qhat(2,1)*qhat(3,1) + qhat(1,1)*qhat(4,1), 0.5f - qhat(3,1)*qhat(3,1) - qhat(4,1)*qhat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 142 | return euler; |
NaotoMorita | 19:3fae66745363 | 143 | } |
NaotoMorita | 19:3fae66745363 | 144 | |
NaotoMorita | 21:d6079def0473 | 145 | |
NaotoMorita | 44:7d82e63b6a86 | 146 | void solaESKF::fuseErr2Nominal() |
NaotoMorita | 19:3fae66745363 | 147 | { |
NaotoMorita | 44:7d82e63b6a86 | 148 | //position |
NaotoMorita | 44:7d82e63b6a86 | 149 | pihat(1,1) += errState(1,1); |
NaotoMorita | 44:7d82e63b6a86 | 150 | pihat(2,1) += errState(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 151 | pihat(3,1) += errState(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 152 | |
NaotoMorita | 44:7d82e63b6a86 | 153 | //velocity |
NaotoMorita | 44:7d82e63b6a86 | 154 | vihat(1,1) += errState(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 155 | vihat(2,1) += errState(5,1); |
NaotoMorita | 44:7d82e63b6a86 | 156 | vihat(3,1) += errState(6,1); |
NaotoMorita | 44:7d82e63b6a86 | 157 | |
NaotoMorita | 44:7d82e63b6a86 | 158 | //angle error |
NaotoMorita | 19:3fae66745363 | 159 | Matrix qerr(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 160 | qerr << 1.0f << 0.5f*errState(1,7) << 0.5f*errState(8,1) << 0.5f*errState(9,1); |
NaotoMorita | 19:3fae66745363 | 161 | qhat = quatmultiply(qhat, qerr); |
NaotoMorita | 19:3fae66745363 | 162 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qhat),qhat)); |
NaotoMorita | 19:3fae66745363 | 163 | qhat *= (1.0f/ qnorm); |
NaotoMorita | 23:1509648c2318 | 164 | |
NaotoMorita | 44:7d82e63b6a86 | 165 | //acc bias |
NaotoMorita | 44:7d82e63b6a86 | 166 | accBias(1,1) += errState(10,1); |
NaotoMorita | 44:7d82e63b6a86 | 167 | accBias(2,1) += errState(11,1); |
NaotoMorita | 44:7d82e63b6a86 | 168 | accBias(3,1) += errState(12,1); |
NaotoMorita | 44:7d82e63b6a86 | 169 | |
NaotoMorita | 44:7d82e63b6a86 | 170 | //gyro bias |
NaotoMorita | 44:7d82e63b6a86 | 171 | gyroBias(1,1) += errState(13,1); |
NaotoMorita | 44:7d82e63b6a86 | 172 | gyroBias(2,1) += errState(14,1); |
NaotoMorita | 44:7d82e63b6a86 | 173 | gyroBias(3,1) += errState(15,1); |
NaotoMorita | 44:7d82e63b6a86 | 174 | |
NaotoMorita | 44:7d82e63b6a86 | 175 | //gravity bias |
NaotoMorita | 44:7d82e63b6a86 | 176 | gravity(1,1) += errState(16,1); |
NaotoMorita | 44:7d82e63b6a86 | 177 | gravity(2,1) += errState(17,1); |
NaotoMorita | 44:7d82e63b6a86 | 178 | gravity(3,1) += errState(18,1); |
NaotoMorita | 44:7d82e63b6a86 | 179 | |
NaotoMorita | 19:3fae66745363 | 180 | } |
NaotoMorita | 19:3fae66745363 | 181 | |
NaotoMorita | 44:7d82e63b6a86 | 182 | Matrix solaESKF::quatmultiply(Matrix p, Matrix q) |
NaotoMorita | 19:3fae66745363 | 183 | { |
NaotoMorita | 44:7d82e63b6a86 | 184 | |
NaotoMorita | 19:3fae66745363 | 185 | Matrix qout(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 186 | qout(1,1) = p(1,1)*q(1,1) - p(2,1)*q(2,1) - p(3,1)*q(3,1) - p(4,1)*q(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 187 | qout(2,1) = p(1,1)*q(2,1) + p(2,1)*q(1,1) + p(3,1)*q(4,1) - p(4,1)*q(3,1); |
NaotoMorita | 44:7d82e63b6a86 | 188 | qout(3,1) = p(1,1)*q(3,1) - p(2,1)*q(4,1) + p(3,1)*q(1,1) + p(4,1)*q(2,1); |
NaotoMorita | 44:7d82e63b6a86 | 189 | qout(4,1) = p(1,1)*q(4,1) + p(2,1)*q(3,1) - p(3,1)*q(2,1) + p(4,1)*q(1,1); |
NaotoMorita | 19:3fae66745363 | 190 | float qnorm = sqrt(MatrixMath::dot(MatrixMath::Transpose(qout),qout)); |
NaotoMorita | 19:3fae66745363 | 191 | qout *= (1.0f/ qnorm); |
NaotoMorita | 19:3fae66745363 | 192 | return qout; |
NaotoMorita | 19:3fae66745363 | 193 | } |
NaotoMorita | 19:3fae66745363 | 194 | |
NaotoMorita | 44:7d82e63b6a86 | 195 | void solaESKF::computeDcm(Matrix& dcm, Matrix quat) |
NaotoMorita | 19:3fae66745363 | 196 | { |
NaotoMorita | 19:3fae66745363 | 197 | |
NaotoMorita | 44:7d82e63b6a86 | 198 | dcm(1,1) = quat(1,1)*quat(1,1) + quat(2,1)*quat(2,1) - quat(3,1)*quat(3,1) - quat(4,1)*quat(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 199 | dcm(1,2) = 2.0f*(quat(2,1)*quat(3,1) - quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 200 | dcm(1,3) = 2.0f*(quat(2,1)*quat(4,1) + quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 201 | dcm(2,1) = 2.0f*(quat(2,1)*quat(3,1) + quat(1,1)*quat(4,1)); |
NaotoMorita | 44:7d82e63b6a86 | 202 | dcm(2,2) = quat(1,1)*quat(1,1) - quat(2,1)*quat(2,1) + quat(3,1)*quat(3,1) - quat(4,1)*quat(4,1); |
NaotoMorita | 44:7d82e63b6a86 | 203 | dcm(2,3) = 2.0f*(quat(3,1)*quat(4,1) - quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 204 | dcm(3,1) = 2.0f*(quat(2,1)*quat(4,1) - quat(1,1)*quat(3,1)); |
NaotoMorita | 44:7d82e63b6a86 | 205 | dcm(3,2) = 2.0f*(quat(3,1)*quat(4,1) + quat(1,1)*quat(2,1)); |
NaotoMorita | 44:7d82e63b6a86 | 206 | dcm(3,3) = quat(1,1)*quat(1,1) - quat(2,1)*quat(2,1) - quat(3,1)*quat(3,1) + quat(4,1)*quat(4,1); |
NaotoMorita | 19:3fae66745363 | 207 | |
NaotoMorita | 19:3fae66745363 | 208 | } |
NaotoMorita | 19:3fae66745363 | 209 | |
NaotoMorita | 44:7d82e63b6a86 | 210 | void solaESKF::setQhat(float ex,float ey,float ez) |
NaotoMorita | 44:7d82e63b6a86 | 211 | { |
NaotoMorita | 44:7d82e63b6a86 | 212 | float cos_z_2 = cosf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 213 | float cos_y_2 = cosf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 214 | float cos_x_2 = cosf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 215 | |
NaotoMorita | 44:7d82e63b6a86 | 216 | float sin_z_2 = sinf(0.5f*ez); |
NaotoMorita | 44:7d82e63b6a86 | 217 | float sin_y_2 = sinf(0.5f*ey); |
NaotoMorita | 44:7d82e63b6a86 | 218 | float sin_x_2 = sinf(0.5f*ex); |
NaotoMorita | 19:3fae66745363 | 219 | |
NaotoMorita | 19:3fae66745363 | 220 | // and now compute quaternion |
NaotoMorita | 19:3fae66745363 | 221 | qhat(1,1) = cos_z_2*cos_y_2*cos_x_2 + sin_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 222 | qhat(2,1) = cos_z_2*cos_y_2*sin_x_2 - sin_z_2*sin_y_2*cos_x_2; |
NaotoMorita | 19:3fae66745363 | 223 | qhat(3,1) = cos_z_2*sin_y_2*cos_x_2 + sin_z_2*cos_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 224 | qhat(4,1) = sin_z_2*cos_y_2*cos_x_2 - cos_z_2*sin_y_2*sin_x_2; |
NaotoMorita | 19:3fae66745363 | 225 | } |
NaotoMorita | 19:3fae66745363 | 226 | |
NaotoMorita | 44:7d82e63b6a86 | 227 | void solaESKF::setGravity(float gx,float gy,float gz) |
NaotoMorita | 23:1509648c2318 | 228 | { |
NaotoMorita | 44:7d82e63b6a86 | 229 | gravity(1,1) = gx; |
NaotoMorita | 44:7d82e63b6a86 | 230 | gravity(2,1) = gy; |
NaotoMorita | 44:7d82e63b6a86 | 231 | gravity(3,1) = gz; |
NaotoMorita | 23:1509648c2318 | 232 | } |
NaotoMorita | 23:1509648c2318 | 233 | |
NaotoMorita | 19:3fae66745363 | 234 | |
NaotoMorita | 19:3fae66745363 | 235 | |
NaotoMorita | 44:7d82e63b6a86 | 236 | void solaESKF::setDiag(Matrix& mat, float val){ |
NaotoMorita | 44:7d82e63b6a86 | 237 | for (int i = 1; i < mat.getCols()+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 238 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 239 | } |
NaotoMorita | 22:7d84b8bc20b4 | 240 | } |
NaotoMorita | 22:7d84b8bc20b4 | 241 | |
NaotoMorita | 44:7d82e63b6a86 | 242 | void solaESKF::setBlockDiag(Matrix& mat, float val,int startIndex, int endIndez){ |
NaotoMorita | 44:7d82e63b6a86 | 243 | for (int i = startIndex; i < endIndex+1; i++){ |
NaotoMorita | 44:7d82e63b6a86 | 244 | mat(i,i) = val; |
NaotoMorita | 22:7d84b8bc20b4 | 245 | } |
NaotoMorita | 22:7d84b8bc20b4 | 246 | } |