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| author | Martin Miller | 2017-03-22 15:47:00 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-22 15:47:00 -0500 |
| commit | 50834b4ba0904a13242476cc515f85fda4f30844 (patch) | |
| tree | 4f8fa5f22710482d5b9df394185921ad4889a44c /src/body.cpp | |
| parent | d020ec03598b90fb8d78194554471b1cfb4794dd (diff) | |
| download | refslam-50834b4ba0904a13242476cc515f85fda4f30844.zip refslam-50834b4ba0904a13242476cc515f85fda4f30844.tar.gz | |
Add feature handling to state
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/body.cpp b/src/body.cpp index 2a907a1..caa7cb9 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -207,7 +207,6 @@ Body::skewSymmetric ( const Vector3d &x ) return y; } /* ----- end of method Body::skewSymmetric ----- */ - void Body::unicsv ( ) { @@ -225,3 +224,16 @@ Body::accelerometer_bias ( const Vector3d &b ) return ; } /* ----- end of method State::accelerometer_bias ----- */ +/* + *-------------------------------------------------------------------------------------- + * Class: Body + * Method: Body :: ned + * Description: Returns the body position in NED coordinates. + *-------------------------------------------------------------------------------------- + */ +Vector3d +Body::ned ( ) +{ + return X.segment(0,3) ; +} /* ----- end of method Body::ned ----- */ + |