function

Estimation.StrapdownINS.ESKF.withDenseCovariance

Replace a dense covariance and preserve the state

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	`covariance`	`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 withDenseCovariance "Replace a dense covariance and preserve the state"
  input State previous;
  input Covariance covariance;
  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=covariance, covarianceRoot=previous.covarianceRoot,
    useSquareRootCovariance=previous.useSquareRootCovariance,
    barometerBiasCrossCovariance=barometerBiasCrossCovariance,
    barometerBias_m=previous.barometerBias_m,
    barometerBiasVariance_m2=previous.barometerBiasVariance_m2,
    useJointBarometerBias=previous.useJointBarometerBias);
end withDenseCovariance;