quatCovMat.c File Reference

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Variables
float	t2 = rotX*rotX
float	t4 = rotY*rotY
float	t5 = rotZ*rotZ
float	t6 = t2+t4+t5
float	t7 = sqrtf(t6)
float	t8 = t7*0.5f
float	t3 = sinf(t8)
float	t9 = t3*t3
float	t10 = 1.0f/t6
float	t11 = 1.0f/sqrtf(t6)
float	t12 = cosf(t8)
float	t13 = 1.0f/powf(t6,1.5f)
float	t14 = t3*t11
float	t15 = rotX*rotY*t3*t13
float	t16 = rotX*rotZ*t3*t13
float	t17 = rotY*rotZ*t3*t13
float	t18 = t2*t10*t12*0.5f
float	t27 = t2*t3*t13
float	t19 = t14+t18-t27
float	t23 = rotX*rotY*t10*t12*0.5f
float	t28 = t15-t23
float	t20 = rotY*rotVarY*t3*t11*t28*0.5f
float	t25 = rotX*rotZ*t10*t12*0.5f
float	t31 = t16-t25
float	t21 = rotZ*rotVarZ*t3*t11*t31*0.5f
float	t22 = t20+t21-rotX*rotVarX*t3*t11*t19*0.5f
float	t24 = t15-t23
float	t26 = t16-t25
float	t29 = t4*t10*t12*0.5f
float	t34 = t3*t4*t13
float	t30 = t14+t29-t34
float	t32 = t5*t10*t12*0.5f
float	t40 = t3*t5*t13
float	t33 = t14+t32-t40
float	t36 = rotY*rotZ*t10*t12*0.5f
float	t39 = t17-t36
float	t35 = rotZ*rotVarZ*t3*t11*t39*0.5f
float	t37 = t15-t23
float	t38 = t17-t36
float	t41 = rotVarX*(t15-t23)*(t16-t25)
float	t42 = t41-rotVarY*t30*t39-rotVarZ*t33*t39
float	t43 = t16-t25
float	t44 = t17-t36
	P [0][0] = rotVarX*t2*t9*t10*0.25f+rotVarY*t4*t9*t10*0.25f+rotVarZ*t5*t9*t10*0.25f

Variable Documentation

P

P[3][3] = rotVarX*t2*t9*t10*0.25f+rotVarY*t4*t9*t10*0.25f+rotVarZ*t5*t9*t10*0.25f

Definition at line 44 of file quatCovMat.c.

Referenced by BMP280::collect(), MS5525::collect(), SDP3X::collect(), MS5611::collect(), LPS22HB::collect(), MatrixTest::filterTests(), matrix::inv(), main(), mat_inverse(), matrix::Slice< Type, P, Q, M, N >::norm_squared(), matrix::Matrix< float, n_x, n_u >::operator*(), matrix::Slice< Type, P, Q, M, N >::operator=(), RateControl::setGains(), PositionControl::setPositionGains(), PositionControl::setVelocityGains(), and matrix::Slice< Type, P, Q, M, N >::Slice().

t10

float t10 = 1.0f/t6

Definition at line 9 of file quatCovMat.c.

t11

float t11 = 1.0f/sqrtf(t6)

Definition at line 10 of file quatCovMat.c.

t12

float t12 = cosf(t8)

Definition at line 11 of file quatCovMat.c.

t13

float t13 = 1.0f/powf(t6,1.5f)

Definition at line 12 of file quatCovMat.c.

t14

float t14 = t3*t11

Definition at line 13 of file quatCovMat.c.

t15

float t15 = rotX*rotY*t3*t13

Definition at line 14 of file quatCovMat.c.

t16

float t16 = rotX*rotZ*t3*t13

Definition at line 15 of file quatCovMat.c.

t17

float t17 = rotY*rotZ*t3*t13

Definition at line 16 of file quatCovMat.c.

t18

float t18 = t2*t10*t12*0.5f

Definition at line 17 of file quatCovMat.c.

t19

float t19 = t14+t18-t27

Definition at line 19 of file quatCovMat.c.

t2

float t2 = rotX*rotX

Definition at line 1 of file quatCovMat.c.

t20

float t20 = rotY*rotVarY*t3*t11*t28*0.5f

Definition at line 22 of file quatCovMat.c.

t21

float t21 = rotZ*rotVarZ*t3*t11*t31*0.5f

Definition at line 25 of file quatCovMat.c.

t22

float t22 = t20+t21-rotX*rotVarX*t3*t11*t19*0.5f

Definition at line 26 of file quatCovMat.c.

t23

float t23 = rotX*rotY*t10*t12*0.5f

Definition at line 20 of file quatCovMat.c.

t24

float t24 = t15-t23

Definition at line 27 of file quatCovMat.c.

t25

float t25 = rotX*rotZ*t10*t12*0.5f

Definition at line 23 of file quatCovMat.c.

t26

float t26 = t16-t25

Definition at line 28 of file quatCovMat.c.

t27

float t27 = t2*t3*t13

Definition at line 18 of file quatCovMat.c.

t28

float t28 = t15-t23

Definition at line 21 of file quatCovMat.c.

t29

float t29 = t4*t10*t12*0.5f

Definition at line 29 of file quatCovMat.c.

t3

float t3 = sinf(t8)

Definition at line 7 of file quatCovMat.c.

t30

float t30 = t14+t29-t34

Definition at line 31 of file quatCovMat.c.

t31

float t31 = t16-t25

Definition at line 24 of file quatCovMat.c.

t32

float t32 = t5*t10*t12*0.5f

Definition at line 32 of file quatCovMat.c.

t33

float t33 = t14+t32-t40

Definition at line 34 of file quatCovMat.c.

t34

float t34 = t3*t4*t13

Definition at line 30 of file quatCovMat.c.

t35

float t35 = rotZ*rotVarZ*t3*t11*t39*0.5f

Definition at line 37 of file quatCovMat.c.

t36

float t36 = rotY*rotZ*t10*t12*0.5f

Definition at line 35 of file quatCovMat.c.

t37

float t37 = t15-t23

Definition at line 38 of file quatCovMat.c.

t38

float t38 = t17-t36

Definition at line 39 of file quatCovMat.c.

t39

float t39 = t17-t36

Definition at line 36 of file quatCovMat.c.

t4

float t4 = rotY*rotY

Definition at line 2 of file quatCovMat.c.

t40

float t40 = t3*t5*t13

Definition at line 33 of file quatCovMat.c.

t41

float t41 = rotVarX*(t15-t23)*(t16-t25)

Definition at line 40 of file quatCovMat.c.

t42

float t42 = t41-rotVarY*t30*t39-rotVarZ*t33*t39

Definition at line 41 of file quatCovMat.c.

t43

float t43 = t16-t25

Definition at line 42 of file quatCovMat.c.

t44

float t44 = t17-t36

Definition at line 43 of file quatCovMat.c.

t5

float t5 = rotZ*rotZ

Definition at line 3 of file quatCovMat.c.

t6

float t6 = t2+t4+t5

Definition at line 4 of file quatCovMat.c.

t7

float t7 = sqrtf(t6)

Definition at line 5 of file quatCovMat.c.

t8

float t8 = t7*0.5f

Definition at line 6 of file quatCovMat.c.

t9

float t9 = t3*t3

Definition at line 8 of file quatCovMat.c.