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| author | Martin Miller | 2017-04-06 11:44:05 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-06 11:44:05 -0500 |
| commit | fe4ed819b186d56c7c66e196c4717ddc4ab99415 (patch) | |
| tree | cc1d726066f2bd3401dcde27a98407e51887a397 /src/state.h | |
| parent | 0a4594884adcdef15abe861fc64d74b7511c6055 (diff) | |
| download | refslam-fe4ed819b186d56c7c66e196c4717ddc4ab99415.zip refslam-fe4ed819b186d56c7c66e196c4717ddc4ab99415.tar.gz | |
Implement quaternion covariance
Pq = J*Pa*J'
where J is the Jacobian of the euler to quaternion function
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.h b/src/state.h index b04ae9c..cc10263 100644 --- a/src/state.h +++ b/src/state.h @@ -74,7 +74,7 @@ class State const std::vector<measurement_t> &z); void Pkk1 ( const Vector3d &ang, const double dt); void ransacUpdate(std::vector<measurement_t> &z); - void quaternion_covariance(); + void quaternion_covariance(const Matrix<double,4,4> &covq); void qhat(const Quaterniond &q); #else void handle_measurements( const std::vector<measurement_t> & z, const Quaterniond &q); |