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| author | Martin Miller | 2017-03-25 18:47:40 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-25 18:47:40 -0500 |
| commit | bd36055542b49b0bb7611ec9c320f7bbabaf6c27 (patch) | |
| tree | dec90e5991e787c3bf5cd5c74c22f6c5fe66bbeb /src/state.h | |
| parent | 8ee0614580b266aa154ce926b2bac7d0e9159578 (diff) | |
| download | refslam-bd36055542b49b0bb7611ec9c320f7bbabaf6c27.zip refslam-bd36055542b49b0bb7611ec9c320f7bbabaf6c27.tar.gz | |
Add State::R() method, refactor H()
Method to compute R for given vector of z measurements. Added a method
State::Hrows(z) to return number of rows in H(z).
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/state.h b/src/state.h index 43342a7..2a18e36 100644 --- a/src/state.h +++ b/src/state.h @@ -38,7 +38,9 @@ class State Feature *featureById(int id); MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt); MatrixXd H ( const Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z ); + int Hrows( const std::vector<measurement_t> &z ); MatrixXd Q(double dt); + MatrixXd R( const std::vector<measurement_t> &z ); Matrix<double,9,9> Pxx(); Matrix<double,Dynamic,6> L(); |