diff options
| -rw-r--r-- | filter-kalman/kalman.cpp | 6 | ||||
| -rw-r--r-- | filter-kalman/kalman.h | 14 |
2 files changed, 7 insertions, 13 deletions
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp index 744c732b..82b1b0f1 100644 --- a/filter-kalman/kalman.cpp +++ b/filter-kalman/kalman.cpp @@ -8,12 +8,6 @@ #include <QDebug> #include <cmath> -constexpr double settings::adaptivity_window_length; -constexpr double settings::deadzone_scale; -constexpr double settings::deadzone_exponent; -constexpr double settings::process_sigma_pos; -constexpr double settings::process_sigma_rot; - void KalmanFilter::init() { // allocate and initialize matrices diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h index 607c8ddf..431041dc 100644 --- a/filter-kalman/kalman.h +++ b/filter-kalman/kalman.h @@ -20,8 +20,8 @@ using namespace options; #include <atomic> -static constexpr int NUM_STATE_DOF = 12; -static constexpr int NUM_MEASUREMENT_DOF = 6; +static constexpr inline int NUM_STATE_DOF = 12; +static constexpr inline int NUM_MEASUREMENT_DOF = 6; // These vectors are compile time fixed size, stack allocated using StateToMeasureMatrix = Eigen::Matrix<double, NUM_MEASUREMENT_DOF, NUM_STATE_DOF>; using StateMatrix = Eigen::Matrix<double, NUM_STATE_DOF, NUM_STATE_DOF>; @@ -90,11 +90,11 @@ struct settings : opts { value<slider_value> noise_rot_slider_value; value<slider_value> noise_pos_slider_value; - static constexpr double adaptivity_window_length = 0.25; // seconds - static constexpr double deadzone_scale = 8; - static constexpr double deadzone_exponent = 2.0; - static constexpr double process_sigma_pos = 0.5; - static constexpr double process_sigma_rot = 0.5; + static constexpr inline double adaptivity_window_length = 0.25; // seconds + static constexpr inline double deadzone_scale = 8; + static constexpr inline double deadzone_exponent = 2.0; + static constexpr inline double process_sigma_pos = 0.5; + static constexpr inline double process_sigma_rot = 0.5; static double map_slider_value(const slider_value &v_) { |