Fully implemented EKF.

Still needs to be debugged as the result is way off, but it is all
there.

1 files changed, 1 insertions, 1 deletions

diff --git a/src/feature.h b/src/feature.h
index a405e8f..a169287 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -29,7 +29,6 @@ class Feature
 
         /* ====================  ACCESSORS     ======================================= */
         int id();
-        Vector2d initialView();
         Matrix<double,3,3> P0();
         UTM utm(Vector3d &xbw, Quaterniond &q); 
 
@@ -48,6 +47,7 @@ class Feature
         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();
+        Matrix<double,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr);
 
         Matrix<double,3,3> Q(const double dt);
         Matrix<double,6,6> R();