diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_utilities.h')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.h | 23 |
1 files changed, 10 insertions, 13 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h index b2d790e27..c137209ff 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h @@ -52,7 +52,6 @@ class Vector3f { -private: public: float x; float y; @@ -64,8 +63,8 @@ public: z(c) {} - float length(void) const; - void zero(void); + float length() const; + void zero(); }; class Mat3f @@ -79,20 +78,18 @@ public: Mat3f(); void identity(); - Mat3f transpose(void) const; + Mat3f transpose() const; }; -Vector3f operator*(float sclIn1, Vector3f vecIn1); -Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator*( Mat3f matIn, Vector3f vecIn); -Mat3f operator*( Mat3f matIn1, Mat3f matIn2); -Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator*(Vector3f vecIn1, float sclIn1); +Vector3f operator*(const float sclIn1, const Vector3f &vecIn1); +Vector3f operator+(const Vector3f &vecIn1, const Vector3f &vecIn2); +Vector3f operator-(const Vector3f &vecIn1, const Vector3f &vecIn2); +Vector3f operator*(const Mat3f &matIn, const Vector3f &vecIn); +Mat3f operator*(const Mat3f &matIn1, const Mat3f &matIn2); +Vector3f operator%(const Vector3f &vecIn1, const Vector3f &vecIn2); +Vector3f operator*(const Vector3f &vecIn1, const float sclIn1); Vector3f operator/(const Vector3f &vec, const float scalar); -void swap_var(float &d1, float &d2); - enum GPS_FIX { GPS_FIX_NOFIX = 0, GPS_FIX_2D = 2, |