formatting and clippy errors corrected

Author: jbrodovsky

core/src/filter.rs

@@ -150,7 +150,7 @@ impl SigmaPoint {
     /// ```
     pub fn forward(&mut self, imu_data: IMUData, dt: f64, noise: Option<Vec<f64>>) {
         // Propagate the strapdown state using the strapdown equations
-        self.nav_state = forward(self.nav_state, imu_data, dt);
+        forward(self.nav_state, imu_data, dt);
         let noise_vect = match noise {
             None => return, // UKF mode, does not use noise in propagation
             Some(v) => v,   // Particle filter mode, uses noise in propagation

core/src/main.rs

@@ -1,5 +1,5 @@
 use clap::Parser;
-use csv::{ReaderBuilder, WriterBuilder};
+use csv::{ReaderBuilder};
 use std::error::Error;
 use std::path::PathBuf;
 use strapdown::sim::{NavigationResult, TestDataRecord, closed_loop, dead_reckoning};

core/src/sim.rs

@@ -11,7 +11,7 @@ use std::io::{self};
 use std::path::Path;
 
 use chrono::{DateTime, Utc};
-use nalgebra::{DMatrix, DVector, Rotation3, Vector3};
+use nalgebra::{DMatrix, DVector};
 use serde::{Deserialize, Serialize};
 
 use crate::earth;
@@ -735,7 +735,7 @@ pub fn dead_reckoning(records: &[TestDataRecord]) -> Vec<NavigationResult> {
         first_record.pitch,
         first_record.yaw,
     );
-    let mut state = StrapdownState {
+    let state = StrapdownState {
         latitude: first_record.latitude.to_radians(),
         longitude: first_record.longitude.to_radians(),
         altitude: first_record.altitude,
@@ -773,8 +773,7 @@ pub fn dead_reckoning(records: &[TestDataRecord]) -> Vec<NavigationResult> {
             vec![record.acc_x, record.acc_y, record.acc_z],
             vec![record.gyro_x, record.gyro_y, record.gyro_z],
         );
-        // Propagate the state forward (replace with stub for now)
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         results.push(NavigationResult::from((
             &current_time,
             &state,

core/src/strapdown.rs

@@ -842,7 +842,7 @@ mod tests {
     fn rest() {
         // Test the forward mechanization with a state at rest
         let attitude = Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true, // NED convention
         );
         assert_eq!(state.velocity_north, 0.0);
@@ -853,7 +853,7 @@ mod tests {
             Vector3::new(0.0, 0.0, 0.0), // No rotation
         );
         let dt = 1.0; // Example time step in seconds
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         // After a forward step, the state should still be at rest
         assert_approx_eq!(state.latitude, 0.0, 1e-6);
         assert_approx_eq!(state.longitude, 0.0, 1e-6);
@@ -1032,12 +1032,12 @@ mod tests {
     fn test_forward_yawing() {
         // Yaw rate only, expect yaw to increase by gyro_z * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(vec![0.0, 0.0, 0.0], vec![0.0, 0.0, 0.1]);
         let dt = 1.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         let (_, _, yaw) = state.attitude.euler_angles();
         assert!((yaw - 0.1).abs() < 1e-3);
     }
@@ -1046,12 +1046,12 @@ mod tests {
     fn test_forward_rolling() {
         // Roll rate only, expect roll to increase by gyro_x * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(vec![0.0, 0.0, 0.0], vec![0.1, 0.0, 0.0]);
         let dt = 1.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         let (roll, _, _) = state.attitude.euler_angles();
         assert!((roll - 0.1).abs() < 1e-3);
     }
@@ -1060,12 +1060,12 @@ mod tests {
     fn test_forward_pitching() {
         // Pitch rate only, expect pitch to increase by gyro_y * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(vec![0.0, 0.0, 0.0], vec![0.0, 0.1, 0.0]);
         let dt = 1.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         let (_, pitch, _) = state.attitude.euler_angles();
         assert!((pitch - 0.1).abs() < 1e-3);
     }
@@ -1074,41 +1074,41 @@ mod tests {
     fn test_forward_velocity_north() {
         // Constant acceleration north, expect velocity_north to increase by accel * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(vec![1.0, 0.0, 0.0], vec![0.0, 0.0, 0.0]);
         let dt = 2.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         assert!((state.velocity_north - 2.0).abs() < 1e-3);
     }
 
     #[test]
     fn test_forward_velocity_east() {
         // Constant acceleration east, expect velocity_east to increase by accel * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(vec![0.0, 1.0, 0.0], vec![0.0, 0.0, 0.0]);
         let dt = 2.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         assert!((state.velocity_east - 2.0).abs() < 1e-3);
     }
 
     #[test]
     fn test_forward_velocity_down() {
         // Constant acceleration down, expect velocity_down to increase by accel * dt
         let attitude = nalgebra::Rotation3::identity();
-        let mut state = StrapdownState::new_from_components(
+        let state = StrapdownState::new_from_components(
             0.0, 0.0, 0.0, 0.0, 0.0, 0.0, attitude, false, true,
         );
         let imu_data = IMUData::new_from_vec(
             vec![0.0, 0.0, 2.0 + earth::gravity(&0.0, &0.0)],
             vec![0.0, 0.0, 0.0],
         );
         let dt = 1.0;
-        state = forward(state, imu_data, dt);
+        forward(state, imu_data, dt);
         assert_approx_eq!(state.velocity_down, 2.0, 1e-3);
     }
 }