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Make clang-format happy

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This commit is contained in:
M.A. Gomez 2023-07-18 19:04:56 +02:00
parent 0b139fa42b
commit e840593033
2 changed files with 4 additions and 4 deletions
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6
src/algorithms/PVT/libs/pvt_kf.cc
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@ -2,6 +2,7 @@
* \file pvt_kf.cc
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
* \author Miguel Angel Gomez Lopez, 2023. gomezlma(at)inta.es
*
*
* -----------------------------------------------------------------------------
@ -123,15 +124,14 @@ void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v, const arma::vec& res
{
if (!d_static)
{
// Measurement residuals update
// Measurement residuals non-static update
d_R = {{res_pv[0], res_pv[3], res_pv[5], 0.0, 0.0, 0.0},
{res_pv[3], res_pv[1], res_pv[4], 0.0, 0.0, 0.0},
{res_pv[5], res_pv[4], res_pv[2], 0.0, 0.0, 0.0},
{0.0, 0.0, 0.0, res_pv[6], res_pv[9], res_pv[11]},
{0.0, 0.0, 0.0, res_pv[9], res_pv[7], res_pv[10]},
{0.0, 0.0, 0.0, res_pv[11], res_pv[10], res_pv[8]}};
} // Measurement update
}
arma::vec z = arma::join_cols(p, v);
arma::mat K = d_P_new_old * d_H.t() * arma::inv(d_H * d_P_new_old * d_H.t() + d_R); // Kalman gain

2
src/algorithms/PVT/libs/pvt_kf.h
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@ -2,7 +2,7 @@
* \file pvt_kf.h
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
*
* \author Miguel Angel Gomez Lopez, 2023. gomezlma(at)inta.es
*
* -----------------------------------------------------------------------------
*