Add feature Constructor

1 files changed, 15 insertions, 0 deletions

diff --git a/src/feature.cpp b/src/feature.cpp
index b83f8ee..99ea448 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -21,6 +21,21 @@
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Feature
+ *      Method:  Feature
+ * Description:  constructor
+ *--------------------------------------------------------------------------------------
+ */
+Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q )  /* constructor */
+{
+    X = pib;
+    xb0w = xbw;
+    q0 = q;
+}  /* -----  end of method Feature::Feature  (constructor)  ----- */
+
+
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Feature
  *      Method:  Feature :: S
  * Description:  Returns S, the information matrix for an independent
  * measurement of the feature. For correlated measurements, combine Hx and Hy