Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.

1 files changed, 2 insertions, 0 deletions

diff --git a/src/types.h b/src/types.h
index 1248b80..8b0e8a2 100644
--- a/src/types.h
+++ b/src/types.h
@@ -8,6 +8,7 @@
 using Eigen::Matrix;
 using Eigen::Matrix3d;
 using Eigen::Quaterniond;
+using Eigen::Vector2d;
 using Eigen::Vector3d;
 using Eigen::Vector4d;
 
@@ -18,6 +19,7 @@ typedef struct {
     int id;
     Vector3d source, reflection;
     double height;
+    Vector2d Ssrc, Sref;
 } measurement_t;
 
 // A struct for storing PVA covariance.