Add motion model.

The motion model is broken into two parts, the creation of the L matrix
and the state update. This means that ydot can be computed from the
state object for many features at once, saving computation time.

1 files changed, 3 insertions, 2 deletions

diff --git a/src/feature.h b/src/feature.h
index 2982276..971c952 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -22,6 +22,7 @@ class Feature
         /* ====================  ACCESSORS     ======================================= */
 
         /* ====================  MUTATORS      ======================================= */
+        void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
 
         /* ====================  OPERATORS     ======================================= */
         Matrix<double,3,9> Fx();
@@ -29,9 +30,9 @@ class Feature
         Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q);
+        Matrix<double,3,6> L();
+
         /*
-        void motionModel ( const Vector3d &acc, const Vector3d &ang, 
-                const Quaterniond &q, const double dt);
         Matrix<double,9,9> Q(double dt);
         Matrix<double,1,1> R();
         Matrix<double,1,1> S(const Matrix<double,9,9> &P);