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AP_NavEKF2: add static create method

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This commit is contained in:
Lucas De Marchi 2017-08-30 00:28:02 -07:00 committed by Francisco Ferreira
parent 6781a44046
commit 3c04f4e4d1
1 changed files with 18 additions and 6 deletions
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24
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -34,13 +34,23 @@
class NavEKF2_core;
class AP_AHRS;
class NavEKF2
{
public:
class NavEKF2 {
friend class NavEKF2_core;
static const struct AP_Param::GroupInfo var_info[];
NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
public:
static NavEKF2 create(const AP_AHRS *ahrs,
AP_Baro &baro,
const RangeFinder &rng) {
return NavEKF2{ahrs, baro, rng};
}
constexpr NavEKF2(NavEKF2 &&other) = default;
/* Do not allow copies */
NavEKF2(const NavEKF2 &other) = delete;
NavEKF2 &operator=(const NavEKF2&) = delete;
static const struct AP_Param::GroupInfo var_info[];
// allow logging to determine the number of active cores
uint8_t activeCores(void) const {
@ -318,8 +328,10 @@ public:
// get timing statistics structure
void getTimingStatistics(int8_t instance, struct ekf_timing &timing);
private:
NavEKF2(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
uint8_t num_cores; // number of allocated cores
uint8_t primary; // current primary core
NavEKF2_core *core = nullptr;