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AP_NavEKF3: add static create method

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This commit is contained in:
Lucas De Marchi 2017-08-30 00:41:41 -07:00 committed by Francisco Ferreira
parent e2fe36357a
commit bd6145af6d
1 changed files with 18 additions and 6 deletions
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24
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -31,13 +31,23 @@
class NavEKF3_core; class NavEKF3_core;
class AP_AHRS; class AP_AHRS;
class NavEKF3 class NavEKF3 {
{
public:
friend class NavEKF3_core; friend class NavEKF3_core;
static const struct AP_Param::GroupInfo var_info[];
NavEKF3(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng); public:
static NavEKF3 create(const AP_AHRS *ahrs,
AP_Baro &baro,
const RangeFinder &rng) {
return NavEKF3{ahrs, baro, rng};
}
constexpr NavEKF3(NavEKF3 &&other) = default;
/* Do not allow copies */
NavEKF3(const NavEKF3 &other) = delete;
NavEKF3 &operator=(const NavEKF3&) = delete;
static const struct AP_Param::GroupInfo var_info[];
// allow logging to determine the number of active cores // allow logging to determine the number of active cores
uint8_t activeCores(void) const { uint8_t activeCores(void) const {
@ -349,8 +359,10 @@ public:
// get timing statistics structure // get timing statistics structure
void getTimingStatistics(int8_t instance, struct ekf_timing &timing); void getTimingStatistics(int8_t instance, struct ekf_timing &timing);
private: private:
NavEKF3(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
uint8_t num_cores; // number of allocated cores uint8_t num_cores; // number of allocated cores
uint8_t primary; // current primary core uint8_t primary; // current primary core
NavEKF3_core *core = nullptr; NavEKF3_core *core = nullptr;