Start Feature::h() method

1 files changed, 4 insertions, 4 deletions

diff --git a/src/main.h b/src/main.h
index 2fef291..9e1b656 100644
--- a/src/main.h
+++ b/src/main.h
@@ -14,16 +14,16 @@
 
 using Eigen::Matrix;
 using Eigen::Matrix3d;
-using Eigen::Quaternion;
+using Eigen::Quaterniond;
 using Eigen::Vector3d;
 
 int parseLine(char *line, message *msg);
 timestamp update_dt(const timestamp t, timestamp *t_old);
 
-void covCallback(const message &msg, Matrix<double,9,9> &P, const Quaternion<double> &q);
+void covCallback(const message &msg, Matrix<double,9,9> &P, const Quaterniond &q);
 void imgCallback(const message *msg);
-void imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const timestamp dt);
-void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaternion<double> &q);
+void imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt);
+void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaterniond &q);
 void utmCallback(const message &msg, State &mu);
 
 #endif   /* ----- #ifndef main_INC  ----- */