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author | Martin Miller | 2017-03-24 13:47:17 -0500 |
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committer | Martin Miller | 2017-03-24 13:47:17 -0500 |
commit | 457847229ba58ac7eaaff82bbff8337d60b3993b (patch) | |
tree | 0a41f3001fc64404dd38942adf784de70865b2ed /src/state.h | |
parent | bd2b2ae18c2c9416fd57a02b187d42b805969af0 (diff) | |
download | refslam-457847229ba58ac7eaaff82bbff8337d60b3993b.zip refslam-457847229ba58ac7eaaff82bbff8337d60b3993b.tar.gz |
Compute Pk|k-1 using full state.
Previously State::Pkk1() was only being computed for the body states.
Methods State::F() and State::Q() were written to compose the full
versions of their respective matrices and the results are used to update
Pk|k-1.
Diffstat (limited to 'src/state.h')
-rw-r--r-- | src/state.h | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/state.h b/src/state.h index 0bb8215..1d8dd63 100644 --- a/src/state.h +++ b/src/state.h @@ -33,6 +33,7 @@ class State /* ==================== ACCESSORS ======================================= */ bool exists(int id); MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt); + MatrixXd Q(double dt); /* ==================== MUTATORS ======================================= */ void accelerometer_bias(const Vector3d &b); |