From bfe05b11b1df8aeedbc442e19ad6749f25e12337 Mon Sep 17 00:00:00 2001 From: "M.A. Gomez" Date: Sun, 12 Feb 2023 13:13:29 +0100 Subject: [PATCH] Refactor: function names --- src/algorithms/PVT/libs/vtl_engine.cc | 4 ++-- src/algorithms/PVT/libs/vtl_engine.h | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/algorithms/PVT/libs/vtl_engine.cc b/src/algorithms/PVT/libs/vtl_engine.cc index 6875765e4..a26e1511e 100755 --- a/src/algorithms/PVT/libs/vtl_engine.cc +++ b/src/algorithms/PVT/libs/vtl_engine.cc @@ -162,7 +162,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data) test = kf_H_fill(kf_H,new_data.sat_number,a_x, a_y, a_z, kf_dt); // kf_H.print("kf_H diag:"); // Kalman estimation (measurement update) - test = kf_NLmeasurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, new_data.pr_m, new_data.doppler_hz, kf_x); + test = kf_measurements(kf_yerr, new_data.sat_number, rho_pri, rhoDot_pri, new_data.pr_m, new_data.doppler_hz, kf_x); kf_P_x = kf_F * kf_P_x * kf_F.t() + kf_Q; // state error covariance prediction // kf_P_x.print("a priori P: "); @@ -328,7 +328,7 @@ bool Vtl_Engine::obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_pri,arma::colvec return -1; } -bool Vtl_Engine::kf_NLmeasurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x) +bool Vtl_Engine::kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x) { for (int32_t i = 0; i < sat_number; i++) // Measurement vector { diff --git a/src/algorithms/PVT/libs/vtl_engine.h b/src/algorithms/PVT/libs/vtl_engine.h index 127144a68..4cce7371b 100755 --- a/src/algorithms/PVT/libs/vtl_engine.h +++ b/src/algorithms/PVT/libs/vtl_engine.h @@ -87,7 +87,7 @@ private: bool kf_H_fill(arma::mat &kf_H, int sat_number, arma::colvec ax, arma::colvec ay, arma::colvec az, double kf_dt); // Observation Matrix constructor bool kf_F_fill(arma::mat &kf_F,double kf_dt); // System Matrix constructor bool obsv_calc(arma::mat &rho_pri,arma::mat &rhoDot_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); // Observables calculation - bool kf_NLmeasurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); + bool kf_measurements(arma::mat &kf_yerr, int sat_number, arma::mat rho_pri, arma::mat rhoDot_pri, arma::colvec pr_m, arma::colvec doppler_hz, arma::mat kf_x); }; /** \} */