function

SLAM.Localization.RGBDLocalizationCatalog.ReferenceHeld

Public declarations

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

Role	Name	Type
input	`previous`	`Estimator`
input	`proposed`	`Estimator`
output	`held`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ReferenceHeld
    input Estimator previous; input Estimator proposed;
    output Boolean held;
  algorithm
    held := SLAMExactRealEqual(previous.referenceAvailable,proposed.referenceAvailable)
      and SLAMExactRealEqual(previous.referenceEpoch,proposed.referenceEpoch);
    if SLAMExactRealEqual(previous.referenceAvailable,1.0) then
      held := held and SLAMExactRealEqual(previous.referenceCount,proposed.referenceCount)
        and SLAMExactRealEqual(previous.referenceNoiseReferenceFx,proposed.referenceNoiseReferenceFx)
        and SLAMExactRealEqual(previous.referenceDisparityNoise,proposed.referenceDisparityNoise)
        and SLAMExactRealEqual(previous.referenceBaseline,proposed.referenceBaseline);
      for axis in 1:dimension loop
        held := held and SLAMExactRealEqual(previous.referencePosition[axis],proposed.referencePosition[axis])
          and SLAMExactRealEqual(previous.referenceCameraOriginBody[axis],proposed.referenceCameraOriginBody[axis]);
        for column in 1:dimension loop
          held := held and SLAMExactRealEqual(previous.referenceRotation[axis,column],proposed.referenceRotation[axis,column])
            and SLAMExactRealEqual(previous.referenceOpticalToBody[axis,column],proposed.referenceOpticalToBody[axis,column]);
        end for;
      end for;
      for coordinate in 1:4 loop
        held := held and SLAMExactRealEqual(previous.referenceRgbCalibration[coordinate],proposed.referenceRgbCalibration[coordinate])
          and SLAMExactRealEqual(previous.referenceDepthCalibration[coordinate],proposed.referenceDepthCalibration[coordinate]);
      end for;
      for row in 1:referenceDimension loop
        for column in 1:referenceDimension loop
          held := held and SLAMExactRealEqual(previous.referenceCovariance[row,column],proposed.referenceCovariance[row,column]);
        end for;
      end for;
      for feature in 1:featureCapacity loop
        held := held and SLAMExactRealEqual(previous.referenceEnabled[feature],proposed.referenceEnabled[feature]);
        if SLAMExactRealEqual(previous.referenceEnabled[feature],1.0) then
          for axis in 1:dimension loop
            held := held and SLAMExactRealEqual(previous.referencePoint[feature,axis],proposed.referencePoint[feature,axis]);
          end for;
          for coordinate in 1:2 loop
            held := held and SLAMExactRealEqual(previous.referencePixels[feature,coordinate],proposed.referencePixels[feature,coordinate]);
          end for;
          for coordinate in 1:descriptorSize loop
            held := held and SLAMExactRealEqual(previous.referenceDescriptor[feature,coordinate],proposed.referenceDescriptor[feature,coordinate]);
          end for;
        end if;
      end for;
    end if;
  end ReferenceHeld;