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estimator interface: add deprecated functions for backward compatibility

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bresch
2019-10-16 11:58:58 +02:00
committed by Paul Riseborough
parent b38458c2ab
commit 50167bfbcf
1 changed files with 8 additions and 0 deletions
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EKF/estimator_interface.h
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@@ -124,6 +124,10 @@ public:
virtual void getHaglInnovVar(float *hagl_innov_var) = 0; virtual void getHaglInnovVar(float *hagl_innov_var) = 0;
virtual void getHaglInnov(float *hagl_innov) = 0; virtual void getHaglInnov(float *hagl_innov) = 0;
//[[deprecated("Replaced by getHaglInnovVar")]]
void get_hagl_innov_var(float *hagl_innov_var) { getHaglInnovVar(hagl_innov_var); }
//[[deprecated("Replaced by getHaglInnov")]]
void get_hagl_innov(float *hagl_innov) { getHaglInnov(hagl_innov); }
// return an array containing the output predictor angular, velocity and position tracking // return an array containing the output predictor angular, velocity and position tracking
// error magnitudes (rad), (m/s), (m) // error magnitudes (rad), (m/s), (m)
@@ -266,9 +270,13 @@ public:
bool inertial_dead_reckoning() {return _is_dead_reckoning;} bool inertial_dead_reckoning() {return _is_dead_reckoning;}
virtual bool isTerrainEstimateValid() = 0; virtual bool isTerrainEstimateValid() = 0;
//[[deprecated("Replaced by isTerrainEstimateValid")]]
bool get_terrain_valid() { return isTerrainEstimateValid(); }
// get the estimated terrain vertical position relative to the NED origin // get the estimated terrain vertical position relative to the NED origin
virtual void getTerrainVertPos(float *ret) = 0; virtual void getTerrainVertPos(float *ret) = 0;
//[[deprecated("Replaced by getTerrainVertPos")]]
void get_terrain_vert_pos(float *ret) { getTerrainVertPos(ret); }
// return true if the local position estimate is valid // return true if the local position estimate is valid
bool local_position_is_valid(); bool local_position_is_valid();