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author | Martin Miller | 2017-04-11 13:50:02 -0500 |
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committer | Martin Miller | 2017-04-11 13:50:02 -0500 |
commit | 7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969 (patch) | |
tree | 07ebad1b29566e1515bb2e61abecbeb215d95e49 /src/body.h | |
parent | 4d927465217d00b49ded951c43d44c8bda09a756 (diff) | |
download | refslam-7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969.zip refslam-7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969.tar.gz |
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.h | 4 |
1 files changed, 4 insertions, 0 deletions
@@ -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: |