model

SLAM.Inertial.ES15CovariancePrediction

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`F`	`Real`	`[15,15] = fill(0.0,15,15)`
input	`G`	`Real`	`[15,12] = fill(0.0,15,12)`
input	`P`	`Real`	`[15,15] = identity(15)`
input	`dt`	`Real`	`= 1.0/90.0`
input	`density`	`Real`	`[12] = {0.06,0.06,0.06,0.006,0.006,0.006, 0.002,0.002,0.002,0.0002,0.0002,0.0002}`
output	`Phi`	`Real`	`[15,15]`
output	`Q`	`Real`	`[15,15]`
output	`predicted`	`Real`	`[15,15]`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model ES15CovariancePrediction
  import ES15CovarianceStep = SLAM.Inertial.ES15CovarianceStep;

  input Real F[15,15] = fill(0.0,15,15);
  input Real G[15,12] = fill(0.0,15,12);
  input Real P[15,15] = identity(15);
  input Real dt = 1.0/90.0;
  input Real density[12] = {0.06,0.06,0.06,0.006,0.006,0.006,
                           0.002,0.002,0.002,0.0002,0.0002,0.0002};
  output Real Phi[15,15];
  output Real Q[15,15];
  output Real predicted[15,15];
equation
  (Phi,Q,predicted) = ES15CovarianceStep(F,G,P,dt,density);
end ES15CovariancePrediction;