function

Estimation.MocapExternalOdometryErrorState.poseMeasurementCovariance

Pose measurement covariance in residual ordering

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`measurementNoise`	`PoseMeasurementNoise`
output	`covariance`	`MeasurementCovariance`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function poseMeasurementCovariance "Pose measurement covariance in residual ordering"
  input PoseMeasurementNoise measurementNoise;
  output MeasurementCovariance covariance;
algorithm
  covariance := zeros(MeasurementLength, MeasurementLength);
  for axis in 1:3 loop
    covariance[axis, axis] := measurementNoise.attitude;
    covariance[axis + 3, axis + 3] := measurementNoise.position;
  end for;
end poseMeasurementCovariance;