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Add missing const modifier

master
Kamil Ritz 4 years ago committed by Mathieu Bresciani
parent
a8e0e82858
commit
df7f261e03
2 changed files with 4 additions and 4 deletions
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  1. 4
      EKF/EKFGSF_yaw.cpp
  2. 4
      EKF/EKFGSF_yaw.h

4
EKF/EKFGSF_yaw.cpp
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@ -470,7 +470,7 @@ float EKFGSF_yaw::gaussianDensity(const uint8_t model_index) const @@ -470,7 +470,7 @@ float EKFGSF_yaw::gaussianDensity(const uint8_t model_index) const
return _m_2pi_inv * sqrtf(_ekf_gsf[model_index].S_det_inverse) * expf(-0.5f * normDist);
}
bool EKFGSF_yaw::getLogData(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
bool EKFGSF_yaw::getLogData(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) const
{
if (_ekf_gsf_vel_fuse_started) {
*yaw_composite = _gsf_yaw;
@ -532,7 +532,7 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g) @@ -532,7 +532,7 @@ Matrix3f EKFGSF_yaw::ahrsPredictRotMat(const Matrix3f &R, const Vector3f &g)
return ret;
}
bool EKFGSF_yaw::getYawData(float *yaw, float *yaw_variance)
bool EKFGSF_yaw::getYawData(float *yaw, float *yaw_variance) const
{
if(_ekf_gsf_vel_fuse_started) {
*yaw = _gsf_yaw;

4
EKF/EKFGSF_yaw.h
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@ -45,11 +45,11 @@ public: @@ -45,11 +45,11 @@ public:
float yaw[N_MODELS_EKFGSF],
float innov_VN[N_MODELS_EKFGSF],
float innov_VE[N_MODELS_EKFGSF],
float weight[N_MODELS_EKFGSF]);
float weight[N_MODELS_EKFGSF]) const;
// get yaw estimate and the corresponding variance
// return false if no yaw estimate available
bool getYawData(float *yaw, float *yaw_variance);
bool getYawData(float *yaw, float *yaw_variance) const;
private:

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