function

SLAM.Localization.RGBDLocalizationCatalog.EmptyEstimator

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`position`	`Real`	`[dimension] = zeros(dimension)`
input	`velocity`	`Real`	`[dimension] = zeros(dimension)`
input	`rotation`	`Real`	`[dimension,dimension] = identity(dimension)`
input	`accelBias`	`Real`	`[dimension] = zeros(dimension)`
input	`gyroBias`	`Real`	`[dimension] = zeros(dimension)`
input	`covariance`	`Real`	`[currentDimension,currentDimension] = diagonal({0.25,0.25,0.25, 0.04,0.04,0.04,0.01,0.01,0.01,0.0004,0.0004,0.0004,0.000025,0.000025,0.000025})`
input	`nullspaceDirection`	`Real`	`[9] = zeros(9)`
output	`result`	`Estimator`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function EmptyEstimator
    input Real position[dimension] = zeros(dimension);
    input Real velocity[dimension] = zeros(dimension);
    input Real rotation[dimension,dimension] = identity(dimension);
    input Real accelBias[dimension] = zeros(dimension);
    input Real gyroBias[dimension] = zeros(dimension);
    input Real covariance[currentDimension,currentDimension] = diagonal({0.25,0.25,0.25,
      0.04,0.04,0.04,0.01,0.01,0.01,0.0004,0.0004,0.0004,0.000025,0.000025,0.000025});
    input Real nullspaceDirection[9] = zeros(9);
    output Estimator result;
  algorithm
    result.position := position; result.velocity := velocity; result.rotation := rotation;
    result.accelBias := accelBias; result.gyroBias := gyroBias; result.covariance := covariance;
    result.nullspaceDirection := nullspaceDirection;
    result.crossCovariance := zeros(currentDimension,referenceDimension);
    result.referenceCovariance := zeros(referenceDimension,referenceDimension);
    result.referencePosition := zeros(dimension); result.referenceRotation := identity(dimension);
    result.referenceAvailable := 0.0; result.referenceEpoch := 0.0;
    result.referenceUsed := 0.0; result.lastUsedEpoch := -1.0;
    result.referenceDescriptor := zeros(featureCapacity,descriptorSize);
    result.referencePoint := zeros(featureCapacity,dimension); result.referenceEnabled := zeros(featureCapacity);
    result.referencePixels := zeros(featureCapacity,2); result.referenceCount := 0.0;
    result.referenceRgbCalibration := {1.0,1.0,0.0,0.0};
    result.referenceDepthCalibration := {1.0,1.0,0.0,0.0};
    result.referenceNoiseReferenceFx := 1.0; result.referenceDisparityNoise := 0.08;
    result.referenceBaseline := 0.05; result.referenceOpticalToBody := identity(dimension);
    result.referenceCameraOriginBody := zeros(dimension);
  end EmptyEstimator;