From 3f33a0fdd44f61374ec2d0009c4e3486e89fd0d6 Mon Sep 17 00:00:00 2001 From: "M.A. Gomez" Date: Sun, 18 Jun 2023 23:47:24 +0200 Subject: [PATCH] FORMAT: clang --- src/algorithms/PVT/libs/vtl_engine.cc | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/src/algorithms/PVT/libs/vtl_engine.cc b/src/algorithms/PVT/libs/vtl_engine.cc index 05e0ed083..dbf3358a6 100644 --- a/src/algorithms/PVT/libs/vtl_engine.cc +++ b/src/algorithms/PVT/libs/vtl_engine.cc @@ -124,7 +124,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data new_data) //************************************** // Kalman state prediction (time update) //************************************** - + if (counter < closure_point) { // receiver solution from rtklib_solver @@ -300,7 +300,6 @@ void Vtl_Engine::kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arm void Vtl_Engine::kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x) { - double densidad = 1.0; double ballistic_coef = 0.007; double diam_cohete = 120.0e-3; // 120 mm @@ -323,14 +322,14 @@ void Vtl_Engine::kf_F_fill(arma::mat &kf_F, double kf_dt, arma::mat &kf_x) kf_F(4, 7) = kf_dt; kf_F(5, 8) = kf_dt; - kf_F(6, 3) = -beta*(vx*vx/u+u); - kf_F(7, 4) = -beta*(vy*vy/u+u); - kf_F(8, 5) = -beta*(vz*vz/u+u); + kf_F(6, 3) = -beta * (vx * vx / u + u); + kf_F(7, 4) = -beta * (vy * vy / u + u); + kf_F(8, 5) = -beta * (vz * vz / u + u); kf_F(9, 10) = kf_dt; } -void Vtl_Engine::obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::mat &rhoDot2_pri,arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x) +void Vtl_Engine::obsv_calc(arma::mat &rho_pri, arma::mat &rhoDot_pri, arma::mat &rhoDot2_pri, arma::colvec &ax, arma::colvec &ay, arma::colvec &az, int sat_number, arma::mat sat_p, arma::mat sat_v, arma::mat kf_x) { for (int32_t i = 0; i < sat_number; i++) // neccesary quantities { @@ -390,7 +389,7 @@ void Vtl_Engine::model3DoF(double &acc_x, double &acc_y, double &acc_z, arma::ma if (t_disparo < .2) { - u_dir = {.90828, -.13984, -.388756}; // launching attitude + u_dir = {.90828, -.13984, -.388756}; // launching attitude } else { @@ -454,11 +453,11 @@ void Vtl_Engine::accelerometer(double &acc_x, double &acc_y, double &acc_z, arma if (t_disparo < .2) { - u_dir = {.90828, -.13984, -.388756}; // launching attitude + u_dir = {.90828, -.13984, -.388756}; // launching attitude } else { - u_dir = u_vec / u; + u_dir = u_vec / u; } accelerometer = AccLkTable(t_disparo);