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| author | Martin Miller | 2017-03-24 13:30:50 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-24 13:30:50 -0500 |
| commit | 9458b30126e346c9e0d373c9df5690655bf7f8ab (patch) | |
| tree | b1c1f3ff7fb0fc8411c8034aec4a354fa6e8a9f8 /src/body.cpp | |
| parent | a62bc5ac3429e3ae2b0d5f62e498abd8006bc98f (diff) | |
| download | refslam-9458b30126e346c9e0d373c9df5690655bf7f8ab.zip refslam-9458b30126e346c9e0d373c9df5690655bf7f8ab.tar.gz | |
Body can return velocity
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/src/body.cpp b/src/body.cpp index caa7cb9..a5c572a 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -234,6 +234,12 @@ Body::accelerometer_bias ( const Vector3d &b ) Vector3d Body::ned ( ) { - return X.segment(0,3) ; + return X.segment<3>(0); } /* ----- end of method Body::ned ----- */ +Vector3d +Body::vel ( ) +{ + return X.segment<3>(3); +} /* ----- end of method Body::vel ----- */ + |