Implement quaternion covariance

Pq = J*Pa*J'

where J is the Jacobian of the euler to quaternion function

1 files changed, 3 insertions, 1 deletions

diff --git a/src/main.h b/src/main.h
index f78158d..5fa7ee6 100644
--- a/src/main.h
+++ b/src/main.h
@@ -49,6 +49,7 @@
 
 using Eigen::Matrix;
 using Eigen::Matrix3d;
+using Eigen::Matrix4d;
 using Eigen::Quaterniond;
 using Eigen::Vector3d;
 
@@ -57,7 +58,7 @@ int parseLine(char *line, message *msg);
 timestamp update_dt(const timestamp t, timestamp *t_old);
 
 #if STATESIZE==13
-void covCallback(const message &msg, State &mu);
+void covCallback(const message &msg, State &mu, const attitude_t &att);
 void imgCallback(message &msg, State &mu, Camera &cam);
 void imuCallback(const message &msg, State &mu, const timestamp dt);
 void utmCallback(const message &msg, State &mu);
@@ -68,6 +69,7 @@ void imuCallback(const message &msg, State &mu, const Quaterniond &q, const time
 void utmCallback(const message &msg, State &mu, const Quaterniond &q);
 #endif
 void pvaCallback(const message &msg, Matrix<double,STATESIZE,1> &X, Quaterniond &q);
+Matrix<double,4,3> attitude_jacobian(double roll, double pitch, double yaw);
 
 
 #endif   /* ----- #ifndef main_INC  ----- */