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| author | Martin Miller | 2017-03-18 23:01:15 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-18 23:01:15 -0500 |
| commit | 0862825c7e37a45c343559b7c18a21fc0bb965f9 (patch) | |
| tree | 4f9c8729ff6a137a426b5ed017773bf698f0a641 /src/body.cpp | |
| parent | f098647e69c1fe3a3a20599405962e7e1f3c7c0f (diff) | |
| download | refslam-0862825c7e37a45c343559b7c18a21fc0bb965f9.zip refslam-0862825c7e37a45c343559b7c18a21fc0bb965f9.tar.gz | |
Start Feature::h() method
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/body.cpp b/src/body.cpp index 2832ea4..3796c41 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -149,7 +149,7 @@ Body::h ( ) *-------------------------------------------------------------------------------------- */ Matrix<double,9,9> -Body::F ( const Vector3d &ang, const Quaternion<double> &q ) +Body::F ( const Vector3d &ang, const Quaterniond &q ) { Matrix<double,9,9> F = Matrix<double,9,9>::Zero(); Matrix<double,3,3> Rbw(q.toRotationMatrix()); @@ -169,7 +169,7 @@ Body::F ( const Vector3d &ang, const Quaternion<double> &q ) *-------------------------------------------------------------------------------------- */ void -Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt) +Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaterniond &q, const double dt) { Vector3d bias(X.segment(6,3)); Vector3d gravity_world(0.,0.,9.80655); |