From 3d0457ffdb439d3b4f834534a0538a7fe96bb328 Mon Sep 17 00:00:00 2001
From: Alberto Nidasio <alberto.nidasio@skywarder.eu>
Date: Sat, 9 Jul 2022 08:20:46 +0000
Subject: [PATCH] [CI/CD] Fixed cppcheck errors
---
src/shared/algorithms/NAS/StateInitializer.cpp | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/src/shared/algorithms/NAS/StateInitializer.cpp b/src/shared/algorithms/NAS/StateInitializer.cpp
index 5fa2a1393..d1c590432 100644
--- a/src/shared/algorithms/NAS/StateInitializer.cpp
+++ b/src/shared/algorithms/NAS/StateInitializer.cpp
@@ -36,6 +36,7 @@ void StateInitializer::eCompass(const Eigen::Vector3f acc,
Eigen::Vector3f am(acc.cross(mag));
Eigen::Matrix3f R;
+ // cppcheck-suppress constStatement
R << am.cross(acc), am, acc;
R.col(0).normalize();
R.col(1).normalize();
@@ -68,8 +69,10 @@ void StateInitializer::triad(Eigen::Vector3f& acc, Eigen::Vector3f& mag,
// Compose the reference and measured matrixes
Eigen::Matrix3f M;
+ // cppcheck-suppress constStatement
M << R1, R2, R3;
Eigen::Matrix3f m;
+ // cppcheck-suppress constStatement
m << r1, r2, r3;
// Compute the rotation matrix and the corresponding quaternion
@@ -91,4 +94,4 @@ void StateInitializer::positionInit(const float pressure,
}
Eigen::Matrix<float, 13, 1> StateInitializer::getInitX() { return x_init; }
-} // namespace Boardcore
\ No newline at end of file
+} // namespace Boardcore
--
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