function

Estimation.StrapdownINS.ESKF.nominalStateFinite

True when every published nominal state component is finite

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`position`	`Real`	`[3]`
input	`velocity`	`Real`	`[3]`
input	`quaternion`	`Real`	`[4]`
output	`finite`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function nominalStateFinite
  "True when every published nominal state component is finite"
  input Real position[3];
  input Real velocity[3];
  input Real quaternion[4];
  output Boolean finite;
algorithm
  finite := true;
  for axis in 1:3 loop
    finite := finite
      and abs(position[axis]) < FiniteMagnitudeLimit
      and abs(velocity[axis]) < FiniteMagnitudeLimit;
  end for;
  for component in 1:4 loop
    finite := finite and abs(quaternion[component]) < FiniteMagnitudeLimit;
  end for;
end nominalStateFinite;