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author | Martin Miller | 2017-04-05 12:28:49 -0500 |
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committer | Martin Miller | 2017-04-05 12:28:49 -0500 |
commit | 84782fff8f5838a0d58f3c32a558ed29d2a7e9d1 (patch) | |
tree | 936dcbc0545bdb30eb93bffbac91fa7e3b63e7bb /src/body.h | |
parent | 6d90fd67237c64361ccad7277433e56ca91d3261 (diff) | |
download | refslam-84782fff8f5838a0d58f3c32a558ed29d2a7e9d1.zip refslam-84782fff8f5838a0d58f3c32a558ed29d2a7e9d1.tar.gz |
changes
Diffstat (limited to 'src/body.h')
-rw-r--r-- | src/body.h | 4 |
1 files changed, 4 insertions, 0 deletions
@@ -14,6 +14,9 @@ using Eigen::Matrix; using Eigen::Vector3d; using Eigen::Quaterniond; +using std::cout; +using std::cerr; +using std::endl; /* * ===================================================================================== @@ -32,6 +35,7 @@ class Body Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, double dt); Quaterniond qhat(); void qhat(const Quaterniond &q); + void normalizeQuaternion(); #else Matrix<double,STATESIZE,STATESIZE> F(const Vector3d &ang, const Quaterniond &q, double dt); #endif |