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| author | Martin Miller | 2017-03-18 23:01:15 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-18 23:01:15 -0500 |
| commit | 0862825c7e37a45c343559b7c18a21fc0bb965f9 (patch) | |
| tree | 4f9c8729ff6a137a426b5ed017773bf698f0a641 /src/state.cpp | |
| parent | f098647e69c1fe3a3a20599405962e7e1f3c7c0f (diff) | |
| download | refslam-0862825c7e37a45c343559b7c18a21fc0bb965f9.zip refslam-0862825c7e37a45c343559b7c18a21fc0bb965f9.tar.gz | |
Start Feature::h() method
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/state.cpp b/src/state.cpp index 304e5ed..f12ec77 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -67,7 +67,7 @@ State::update ( const Matrix<double,1,1> &z ) *-------------------------------------------------------------------------------------- */ void -State::Pkk1 ( const Vector3d &ang, const Quaternion<double> &q, const double dt) +State::Pkk1 ( const Vector3d &ang, const Quaterniond &q, const double dt) { Matrix<double,9,9> F,Q; Q = body->Q(dt); @@ -80,7 +80,7 @@ State::Pkk1 ( const Vector3d &ang, const Quaternion<double> &q, const double dt) void State::motionModel ( const Vector3d &acc, const Vector3d &ang, - const Quaternion<double> &q, const double dt) + const Quaterniond &q, const double dt) { Pkk1(ang,q,dt); body->motionModel(acc,ang,q,dt); |