function

Estimation.StrapdownINS.UKF.initialize

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`positionWorldEnu_m`	`Real`	`[3]`
input	`velocityWorldEnu_m_s`	`Real`	`[3]`
input	`quaternionWorldBody`	`Real`	`[4]`
input	`gyroscopeBiasBodyFlu_rad_s`	`Real`	`[3]`
input	`accelerometerBiasBodyFlu_m_s2`	`Real`	`[3]`
input	`variances`	`Estimation.StrapdownINS.InitialVariances`
output	`state`	`State`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function initialize
  input Real positionWorldEnu_m[3];
  input Real velocityWorldEnu_m_s[3];
  input Real quaternionWorldBody[4];
  input Real gyroscopeBiasBodyFlu_rad_s[3];
  input Real accelerometerBiasBodyFlu_m_s2[3];
  input Estimation.StrapdownINS.InitialVariances variances;
  output State state;
protected
  Estimation.StrapdownINS.ESKF.State initialized;
algorithm
  initialized := Estimation.StrapdownINS.ESKF.initialize(
    positionWorldEnu_m=positionWorldEnu_m,
    quaternionWorldBody=quaternionWorldBody,
    variances=variances,
    initialVelocityWorldEnu_m_s=velocityWorldEnu_m_s,
    initialGyroscopeBiasBodyFlu_rad_s=gyroscopeBiasBodyFlu_rad_s,
    initialAccelerometerBiasBodyFlu_m_s2=accelerometerBiasBodyFlu_m_s2);
  state := State(
    positionWorldEnu_m=initialized.positionWorldEnu_m,
    velocityWorldEnu_m_s=initialized.velocityWorldEnu_m_s,
    quaternionWorldBody=initialized.quaternionWorldBody,
    gyroscopeBiasBodyFlu_rad_s=initialized.gyroscopeBiasBodyFlu_rad_s,
    accelerometerBiasBodyFlu_m_s2=initialized.accelerometerBiasBodyFlu_m_s2,
    covariance=initialized.covariance);
end initialize;