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| author | Martin Miller | 2017-03-31 15:54:02 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-31 15:54:02 -0500 |
| commit | f21a53aa32f9a005258b129c1e0ef5c7d71890df (patch) | |
| tree | 9f138e467e54268f3319c942e04acab10e604044 /src/body.cpp | |
| parent | b330172b4030340586307b46424e34ddd9d11160 (diff) | |
| download | refslam-f21a53aa32f9a005258b129c1e0ef5c7d71890df.zip refslam-f21a53aa32f9a005258b129c1e0ef5c7d71890df.tar.gz | |
Add 1-Point RANSAC.
1-Pt RANSAC is a method for detecting outlier measurements in the EKF
framework. This algorithm is as described in Civera 2010.
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 13 |
1 files changed, 13 insertions, 0 deletions
diff --git a/src/body.cpp b/src/body.cpp index 041d971..1e1f57d 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -251,3 +251,16 @@ Body::vel ( ) return X.segment<3>(3); } /* ----- end of method Body::vel ----- */ +Matrix<double,9,1> +Body::asVector ( ) +{ + return X; +} /* ----- end of method Body::asVector ----- */ + +void +Body::asVector ( const Matrix<double,9,1> &m ) +{ + X = m; + return ; +} /* ----- end of method Body::asVector ----- */ + |