function

Estimation.FusionHorizon.jacobianBlock

Read one 3x3 bias Jacobian out of a ring row

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`row`	`Real`	`[DeltaLength]`
input	`offset`	`Integer`		Index just before the block's first element
output	`jacobian`	`Real`	`[3, 3]`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function jacobianBlock "Read one 3x3 bias Jacobian out of a ring row"
  input Real row[DeltaLength];
  input Integer offset "Index just before the block's first element";
  output Real jacobian[3, 3];
algorithm
  jacobian[1, 1] := row[offset + 1];
  jacobian[1, 2] := row[offset + 2];
  jacobian[1, 3] := row[offset + 3];
  jacobian[2, 1] := row[offset + 4];
  jacobian[2, 2] := row[offset + 5];
  jacobian[2, 3] := row[offset + 6];
  jacobian[3, 1] := row[offset + 7];
  jacobian[3, 2] := row[offset + 8];
  jacobian[3, 3] := row[offset + 9];
end jacobianBlock;