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| author | Martin Miller | 2017-03-18 18:09:39 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-03-18 18:09:39 -0500 |
| commit | c0727bbe1404e788b4ae82f6c6d99e105ecfacdf (patch) | |
| tree | d982eb15f94bbcdb319453f98d199a5fd9650651 /src/state.h | |
| parent | f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8 (diff) | |
| download | refslam-c0727bbe1404e788b4ae82f6c6d99e105ecfacdf.zip refslam-c0727bbe1404e788b4ae82f6c6d99e105ecfacdf.tar.gz | |
Add fake z kalman update
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/state.h b/src/state.h index 3a17ea5..743f5d8 100644 --- a/src/state.h +++ b/src/state.h @@ -21,6 +21,9 @@ class State /* ==================== OPERATORS ======================================= */ void Pkk1 ( Matrix<double,9,9> &P, const Matrix<double,9,9> &F, const Matrix<double,9,9> &Q ); + void update (Matrix<double,9,1> &X, Matrix<double,9,9> &P, + const Matrix<double,1,9> H, const Matrix<double,1,1> &h, + const Matrix<double,1,1> &z, const Matrix<double,1,1> &R); protected: /* ==================== METHODS ======================================= */ |