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| author | Martin Miller | 2017-04-04 16:10:26 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-04 16:10:26 -0500 |
| commit | 2c0ce68acd031b67fdffaea3b2e50cca4f487633 (patch) | |
| tree | cbaeca5d911fefaca0468c6aa469a5bfc7cf0c6d /src/body.h | |
| parent | 0c8912c5dc1ec3c752f8648ca2a8181275ba2654 (diff) | |
| download | refslam-2c0ce68acd031b67fdffaea3b2e50cca4f487633.zip refslam-2c0ce68acd031b67fdffaea3b2e50cca4f487633.tar.gz | |
Full state mostly implemented.
STATESIZE 9 works just as it does for experiment04032017 tag. The
quaternion covariance is not being set correctly yet.
Diffstat (limited to 'src/body.h')
| -rw-r--r-- | src/body.h | 2 |
1 files changed, 1 insertions, 1 deletions
@@ -9,7 +9,6 @@ //#define DOCLAMP #define MAXHEIGHT -1.5 /* Notion of max and min is reversed due to z pointing down */ #define MINHEIGHT -0.3 /* */ -#define STATESIZE 13 using Eigen::Matrix; @@ -32,6 +31,7 @@ class Body #if STATESIZE==13 Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, double dt); Quaterniond qhat(); + void qhat(const Quaterniond &q); #else Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, const Quaterniond &q, double dt); #endif |