Changeset 61 for simulator_zdenek/ekf_example/matrix.cpp

Timestamp:

04/06/08 20:12:25 (16 years ago)

Author:

smidl

Message:

Zalozeni fixed EKF jako BM pro PF

Files:

• simulator_zdenek/ekf_example/matrix.cpp (modified) (1 diff)

simulator_zdenek/ekf_example/matrix.cpp

@@ -395 +395 @@
 
   det=((long)*matrix**(matrix+3)-(long)*(matrix+1)**(matrix+2))>>15;
+  if (det==0) det=1;
 
   *result++=(((long)*(matrix+3))<<15)/det;