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authorMartin Miller2017-03-18 15:15:47 -0500
committerMartin Miller2017-03-18 15:15:47 -0500
commitf2a48a3a12475b52e9fa525541eeebf0b3f7c7e8 (patch)
tree2793a74c07d4e19e682b2a233ad05371d0fda6bc /src/body.h
parent3b0f0774e5f5b0ed4f296cc55b5b8eecc50029e2 (diff)
downloadrefslam-f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8.zip
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Update P during imuCallback
Diffstat (limited to 'src/body.h')
-rw-r--r--src/body.h3
1 files changed, 2 insertions, 1 deletions
diff --git a/src/body.h b/src/body.h
index 1fc88ff..b5b2aae 100644
--- a/src/body.h
+++ b/src/body.h
@@ -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 ======================================= */