diff options
Diffstat (limited to 'services/sensorservice/Fusion.h')
| -rw-r--r-- | services/sensorservice/Fusion.h | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/services/sensorservice/Fusion.h b/services/sensorservice/Fusion.h index 556944b..7062999 100644 --- a/services/sensorservice/Fusion.h +++ b/services/sensorservice/Fusion.h @@ -37,7 +37,7 @@ class Fusion { vec3_t x1; /* - * the predicated covariance matrix is made of 4 3x3 sub-matrices and it + * the predicated covariance matrix is made of 4 3x3 sub-matrices and it is * semi-definite positive. * * P = | P00 P10 | = | P00 P10 | @@ -74,7 +74,7 @@ private: enum { ACC=0x1, MAG=0x2, GYRO=0x4 }; bool checkInitComplete(int, const vec3_t& w, float d = 0); void initFusion(const vec4_t& q0, float dT); - bool checkState(const vec3_t& v); + void checkState(); void predict(const vec3_t& w, float dT); void update(const vec3_t& z, const vec3_t& Bi, float sigma); static mat34_t getF(const vec4_t& p); |