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author | Martin Miller | 2017-03-18 15:15:47 -0500 |
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committer | Martin Miller | 2017-03-18 15:15:47 -0500 |
commit | f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8 (patch) | |
tree | 2793a74c07d4e19e682b2a233ad05371d0fda6bc /src/body.h | |
parent | 3b0f0774e5f5b0ed4f296cc55b5b8eecc50029e2 (diff) | |
download | refslam-f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8.zip refslam-f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8.tar.gz |
Update P during imuCallback
Diffstat (limited to 'src/body.h')
-rw-r--r-- | src/body.h | 3 |
1 files changed, 2 insertions, 1 deletions
@@ -25,10 +25,11 @@ class Body /* ==================== OPERATORS ======================================= */ void motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt); - void F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q); + Matrix<double,9,9> F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q); void skewSymmetric(const Vector3d &x, Matrix<double,3,3> &y); void H(Matrix<double, 1,9> &H); void h(const Matrix<double,9,1> &X, Matrix<double,1,1> &h); + Matrix<double,9,9> Q(double dt); protected: /* ==================== METHODS ======================================= */ |