function

SLAM.Inertial.SchmidtGraphPoseCorrection.ExactClone

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`state`	`State`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ExactClone
    input State state; output Boolean valid;
  algorithm
    valid := state.referenceAvailable;
    for i in 1:3 loop
      valid := valid and state.position[i] == state.referencePosition[i];
      for j in 1:3 loop valid := valid and state.rotation[i,j] == state.referenceRotation[i,j]; end for;
    end for;
    for i in 1:15 loop for j in 1:6 loop
      valid := valid and state.crossCovariance[i,j] == state.covariance[i,poseIndices[j]];
    end for; end for;
    for i in 1:6 loop for j in 1:6 loop
      valid := valid and state.referenceCovariance[i,j] == state.covariance[poseIndices[i],poseIndices[j]];
    end for; end for;
  end ExactClone;