function

Estimation.StrapdownINS.ESKF.copyState

Copy a filter state and its covariance representation

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`previous`	`State`
output	`copied`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function copyState "Copy a filter state and its covariance representation"
  input State previous;
  output State copied;
algorithm
  copied := State(positionWorldEnu_m=previous.positionWorldEnu_m,
    velocityWorldEnu_m_s=previous.velocityWorldEnu_m_s,
    quaternionWorldBody=previous.quaternionWorldBody,
    gyroscopeBiasBodyFlu_rad_s=previous.gyroscopeBiasBodyFlu_rad_s,
    accelerometerBiasBodyFlu_m_s2=previous.accelerometerBiasBodyFlu_m_s2,
    covariance=previous.covariance,
    useSquareRootCovariance=previous.useSquareRootCovariance,
    covarianceRoot=previous.covarianceRoot,
    barometerBiasCrossCovariance=previous.barometerBiasCrossCovariance,
    barometerBias_m=previous.barometerBias_m,
    barometerBiasVariance_m2=previous.barometerBiasVariance_m2,
    useJointBarometerBias=previous.useJointBarometerBias);
end copyState;