function

Estimation.StrapdownINS.ESKF.withCovarianceRoot

Set the authoritative root and its dense diagnostic

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`previous`	`State`
input	`root`	`Covariance`
input	`barometerBiasCrossCovariance`	`Real`	`[TangentLength]`
output	`updated`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function withCovarianceRoot "Set the authoritative root and its dense diagnostic"
  input State previous;
  input Covariance root;
  input Real barometerBiasCrossCovariance[TangentLength];
  output State updated;
algorithm
  updated := 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=LinearAlgebra.symmetrize(root * transpose(root)),
    covarianceRoot=root,
    useSquareRootCovariance=previous.useSquareRootCovariance,
    barometerBiasCrossCovariance=barometerBiasCrossCovariance,
    barometerBias_m=previous.barometerBias_m,
    barometerBiasVariance_m2=previous.barometerBiasVariance_m2,
    useJointBarometerBias=previous.useJointBarometerBias);
end withCovarianceRoot;