function

SLAM.PoseGraph.GraphGaugeUncertainty.CloneEstimate

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
input	`estimate`	`Estimate`
output	`valid`	`Boolean`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function CloneEstimate
    input Estimate estimate; output Boolean valid;
  algorithm
    valid := SameCapture(estimate.binding);
    for i in 1:3 loop
      valid := valid and estimate.positions[1,i] == estimate.positions[2,i];
      for j in 1:3 loop valid := valid and estimate.rotations[1,i,j] == estimate.rotations[2,i,j]; end for;
    end for;
    for i in 1:6 loop for j in 1:6 loop
      valid := valid and estimate.covariance[i,j] == estimate.covariance[i,j+6]
        and estimate.covariance[i,j] == estimate.covariance[i+6,j]
        and estimate.covariance[i,j] == estimate.covariance[i+6,j+6];
    end for; end for;
  end CloneEstimate;