Add quaternion accessor to Body.

1 files changed, 1 insertions, 0 deletions

diff --git a/src/body.h b/src/body.h
index b973b00..5544bba 100644
--- a/src/body.h
+++ b/src/body.h
@@ -37,6 +37,7 @@ class Body
         Matrix<double,1,13> H();
         Matrix<double,13,13> Q(double dt);
         Matrix<double,1,1> S(const Matrix<double,13,13> &Pxx);
+        Quaterniond qhat();
 #else
         Matrix<double,9,9> F(const Vector3d &ang, const Quaterniond &q, double dt);
         Matrix<double,9,1> asVector();