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authorMartin Miller2017-04-11 13:50:02 -0500
committerMartin Miller2017-04-11 13:50:02 -0500
commit7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969 (patch)
tree07ebad1b29566e1515bb2e61abecbeb215d95e49 /src/body.h
parent4d927465217d00b49ded951c43d44c8bda09a756 (diff)
downloadrefslam-7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969.zip
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Update process noise in body.
Process noise is a function of v and q.
Diffstat (limited to 'src/body.h')
-rw-r--r--src/body.h4
1 files changed, 4 insertions, 0 deletions
diff --git a/src/body.h b/src/body.h
index 6641ab5..1e64d86 100644
--- a/src/body.h
+++ b/src/body.h
@@ -16,7 +16,10 @@
using Eigen::Matrix;
+using Eigen::Matrix3d;
+using Eigen::Matrix4d;
using Eigen::Vector3d;
+using Eigen::Vector4d;
using Eigen::Quaterniond;
using std::cout;
using std::cerr;
@@ -69,6 +72,7 @@ class Body
Matrix<double,1,1> R();
Matrix<double,3,3> skewSymmetric(const Vector3d &x);
Matrix<double,4,4> omega(const Vector3d &x);
+ Matrix<double,4,3> qomega(const Quaterniond &q);
void unicsv();
protected: