Add support for INSCOVS.

The position and velocity covariances are rotated into the correct
frames: NED and FRD.

1 files changed, 5 insertions, 1 deletions

diff --git a/src/body.h b/src/body.h
index d668957..1fc88ff 100644
--- a/src/body.h
+++ b/src/body.h
@@ -23,8 +23,12 @@ class Body
         /* ====================  MUTATORS      ======================================= */
 
         /* ====================  OPERATORS     ======================================= */
-        void motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt);
+        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);
         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);
 
     protected:
         /* ====================  METHODS       ======================================= */