Ekf2: Vector24f -> VectorState #22105
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Then the state vector size can be changes without having to update the name
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bresch
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Sep 20, 2023
| @@ -148,8 +148,8 @@ void Ekf::fuseOptFlow() | |||
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| SparseVector24f<0,1,2,3,4,5,6> Hfusion(H); | |||
| Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[index]; | |||
| SparseVectorState<0,1,2,3,4,5,6> Hfusion(H); | |||
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@dagar The sparse vector optimization is still in the way if we want to be able to swap state blocks
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We could do SparseVectorState<State::quat_nominal.idx, State::quat_nominal.idx + 1, ... but it isn't so nice as it wouldn't leverage the .dof of each state.
Would you know how to do it nicely?
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Would you know how to do it nicely?
Not off the top of my head, but given there are only a few SparseVectors I'd be tempted to do a quick check to see how much they really save, and perhaps even do a size/speed comparison with symforce. There might be a worthwhile tradeoff for the very sparse observation matrices?
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dagar
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Sep 21, 2023
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Solved Problem
State vector type contains the number of elements in its name, this would cause to rename everything is its size changes.
Solution
rename
Vector24f -> VectorStateSquareMatrix24f -> SquareMatrixStateSparseMatrix24f -> SparseMatrixStateAdditional changes: used auto-generated
Stateconstants instead of more hardcoded indexesNote: missing is still the airspeed reset
Test coverage
unit tests