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FORMAT: cleaning comments

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This commit is contained in:
M.A.Gomez 2022-10-10 16:13:17 +02:00
parent bece48e904
commit 229c9115e4
1 changed files with 10 additions and 21 deletions
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29
src/algorithms/PVT/libs/vtl_engine.cc
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@ -28,7 +28,6 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
{ {
//TODO: Implement main VTL loop here //TODO: Implement main VTL loop here
using arma::as_scalar; using arma::as_scalar;
// using arma::dot;
// ################## Kalman filter initialization ###################################### // ################## Kalman filter initialization ######################################
// covariances (static) // covariances (static)
kf_P_x = arma::zeros(8, 8); //TODO: use a real value. kf_P_x = arma::zeros(8, 8); //TODO: use a real value.
@ -72,25 +71,15 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data)
// // Kalman state prediction (time update) // // Kalman state prediction (time update)
kf_x = kf_F * kf_x; // state prediction kf_x = kf_F * kf_x; // state prediction
kf_P_x= kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction kf_P_x= kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction
//from error state variables to variables
// //from error state variables to variables //x_u=x_u0+kf_x_pri(0);
// //x_u=x_u0+kf_x_pri(0); //y_u=y_u0+kf_x_pri(1);
// //y_u=y_u0+kf_x_pri(1); //z_u=z_u0+kf_x_pri(2);
// //z_u=z_u0+kf_x_pri(2); //xDot_u=xDot_u0+kf_x_pri(3);
// //xDot_u=xDot_u0+kf_x_pri(3); //yDot_u=yDot_u0+kf_x_pri(4);
// //yDot_u=yDot_u0+kf_x_pri(4); //zDot_u=zDot_u0+kf_x_pri(5);
// //zDot_u=zDot_u0+kf_x_pri(5); //cdeltat_u=cdeltat_u0+kf_x_pri(6);
// //cdeltat_u=cdeltat_u0+kf_x_pri(6); //cdeltatDot_u=cdeltatDot_u+kf_x_pri(7);
// //cdeltatDot_u=cdeltatDot_u+kf_x_pri(7);
// // //from error state variables to variables
// // //x_u=x_u0+kf_x_pri(0);
// // //y_u=y_u0+kf_x_pri(1);
// // //z_u=z_u0+kf_x_pri(2);
// // //xDot_u=xDot_u0+kf_x_pri(3);
// // //yDot_u=yDot_u0+kf_x_pri(4);
// // //zDot_u=zDot_u0+kf_x_pri(5);
// // //cdeltat_u=cdeltat_u0+kf_x_pri(6);
// // //cdeltatDot_u=cdeltatDot_u+kf_x_pri(7);
// From state variables definition // From state variables definition
x_u=kf_x(0); x_u=kf_x(0);
y_u=kf_x(1); y_u=kf_x(1);