Add feature Constructor

2 files changed, 16 insertions, 1 deletions

diff --git a/src/feature.cpp b/src/feature.cpp
index b83f8ee..99ea448 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -21,6 +21,21 @@
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Feature
+ *      Method:  Feature
+ * Description:  constructor
+ *--------------------------------------------------------------------------------------
+ */
+Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q )  /* constructor */
+{
+    X = pib;
+    xb0w = xbw;
+    q0 = q;
+}  /* -----  end of method Feature::Feature  (constructor)  ----- */
+
+
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Feature
  *      Method:  Feature :: S
  * Description:  Returns S, the information matrix for an independent
  * measurement of the feature. For correlated measurements, combine Hx and Hy
diff --git a/src/feature.h b/src/feature.h
index 2a492c2..f3a47fd 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -18,7 +18,7 @@ class Feature
 {
     public:
         /* ====================  LIFECYCLE     ======================================= */
-        Feature ();                             /* constructor */
+        Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q );                             /* constructor */
 
         /* ====================  ACCESSORS     ======================================= */