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Add missing covariance initialization (#74) #29

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Nov 21, 2024
Merged

Add missing covariance initialization (#74) #29

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4 changes: 4 additions & 0 deletions fixposition_driver_lib/include/fixposition_driver_lib/messages/base_converter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,6 +186,8 @@ inline times::GpsTime ConvertGpsTime(const std::string& gps_wno, const std::stri
inline Eigen::Matrix<double, 3, 3> BuildCovMat3D(const double xx, const double yy, const double zz,
const double xy, const double yz, const double xz) {
Eigen::Matrix<double, 3, 3> cov;
cov.setZero();

// Diagonals
cov(0, 0) = xx; // 0
cov(1, 1) = yy; // 4
Expand Down Expand Up @@ -227,6 +229,8 @@ inline Eigen::Matrix<double, 6, 6> BuildCovMat6D(const double xx, const double y
const double yz, const double xz, double xx1, const double yy1,
const double zz1, const double xy1, const double yz1, double xz1) {
Eigen::Matrix<double, 6, 6> cov;
cov.setZero();

// Diagonals
cov(0, 0) = xx; // 0
cov(1, 1) = yy; // 7
Expand Down