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authorMartin Miller2017-03-24 13:47:17 -0500
committerMartin Miller2017-03-24 13:47:17 -0500
commit457847229ba58ac7eaaff82bbff8337d60b3993b (patch)
tree0a41f3001fc64404dd38942adf784de70865b2ed /src/state.h
parentbd2b2ae18c2c9416fd57a02b187d42b805969af0 (diff)
downloadrefslam-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.h1
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);