model

SLAM.Inertial.ES15SchmidtPrediction

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`position`	`Real`	`[3] = zeros(3)`
input	`velocity`	`Real`	`[3] = zeros(3)`
input	`rotation`	`Real`	`[3,3] = identity(3)`
input	`accelBias`	`Real`	`[3] = zeros(3)`
input	`gyroBias`	`Real`	`[3] = zeros(3)`
input	`covariance`	`Real`	`[15,15]`
input	`crossCovariance`	`Real`	`[15,6]`
input	`referenceCovariance`	`Real`	`[6,6]`
input	`referencePosition`	`Real`	`[3] = zeros(3)`
input	`referenceRotation`	`Real`	`[3,3] = identity(3)`
input	`referenceAvailable`	`Real`	`= 0.0`
input	`accel`	`Real`	`[3] = {0.0,0.0,9.81}`
input	`gyro`	`Real`	`[3] = zeros(3)`
input	`gravity`	`Real`	`[3] = {0.0,0.0,-9.81}`
input	`h`	`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	`accepted`	`Real`
output	`transition`	`Real`	`[15,15]`
output	`processCovariance`	`Real`	`[15,15]`
output	`nextPosition`	`Real`	`[3]`
output	`nextVelocity`	`Real`	`[3]`
output	`nextRotation`	`Real`	`[3,3]`
output	`nextAccelBias`	`Real`	`[3]`
output	`nextGyroBias`	`Real`	`[3]`
output	`nextCovariance`	`Real`	`[15,15]`
output	`nextCrossCovariance`	`Real`	`[15,6]`
output	`nextReferenceCovariance`	`Real`	`[6,6]`
output	`nextReferencePosition`	`Real`	`[3]`
output	`nextReferenceRotation`	`Real`	`[3,3]`
output	`nextReferenceAvailable`	`Real`
output	`substeps`	`Integer`		Numerical substeps within this unchanged held measurement

Modelica declarations and implementation

Show parameters, interfaces and source

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

model ES15SchmidtPrediction
  import ES15PredictHeldInterval = SLAM.Inertial.ES15PredictHeldInterval;

  input Real position[3] = zeros(3);
  input Real velocity[3] = zeros(3);
  input Real rotation[3,3] = identity(3);
  input Real accelBias[3] = zeros(3);
  input Real gyroBias[3] = zeros(3);
  input Real covariance[15,15];
  input Real crossCovariance[15,6];
  input Real referenceCovariance[6,6];
  input Real referencePosition[3] = zeros(3);
  input Real referenceRotation[3,3] = identity(3);
  input Real referenceAvailable = 0.0;
  input Real accel[3] = {0.0,0.0,9.81};
  input Real gyro[3] = zeros(3);
  input Real gravity[3] = {0.0,0.0,-9.81};
  input Real h = 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 accepted;
  output Real transition[15,15];
  output Real processCovariance[15,15];
  output Real nextPosition[3];
  output Real nextVelocity[3];
  output Real nextRotation[3,3];
  output Real nextAccelBias[3];
  output Real nextGyroBias[3];
  output Real nextCovariance[15,15];
  output Real nextCrossCovariance[15,6];
  output Real nextReferenceCovariance[6,6];
  output Real nextReferencePosition[3];
  output Real nextReferenceRotation[3,3];
  output Real nextReferenceAvailable;
  output Integer substeps "Numerical substeps within this unchanged held measurement";
algorithm
  (accepted,transition,processCovariance,nextPosition,nextVelocity,nextRotation,
    nextCovariance,nextCrossCovariance,substeps) := ES15PredictHeldInterval(
      position,velocity,rotation,accelBias,gyroBias,covariance,crossCovariance,
      referenceCovariance,referencePosition,referenceRotation,referenceAvailable,
      accel,gyro,gravity,h,density);
  nextAccelBias := accelBias;
  nextGyroBias := gyroBias;
  nextReferenceCovariance := referenceCovariance;
  nextReferencePosition := referencePosition;
  nextReferenceRotation := referenceRotation;
  nextReferenceAvailable := referenceAvailable;
end ES15SchmidtPrediction;