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| author | Martin Miller | 2017-08-30 14:49:32 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-08-30 14:49:32 -0500 |
| commit | 3b19a4a0791cf971b136bcc5e34f57539a7ea830 (patch) | |
| tree | c11d4c0b2e6b9b42eaa6e134f6ec4740f6f5342c /src | |
| parent | 29ae7e02e2c30921ae296cfd39407670710c3f2e (diff) | |
| download | refslam-3b19a4a0791cf971b136bcc5e34f57539a7ea830.zip refslam-3b19a4a0791cf971b136bcc5e34f57539a7ea830.tar.gz | |
process noise update
Diffstat (limited to 'src')
| -rw-r--r-- | src/body.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/body.cpp b/src/body.cpp index fdd41a9..3000eeb 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -137,8 +137,7 @@ Body::Q (double dt) Gw.block<3,3>(3,0) = dt*skewSymmetric(vel()); Gw.block<3,3>(STATESIZE-3,0) = Matrix3d::Zero(); } else { - Gw.block<6,0>(0,0) = Matrix<double,6,0>::Zero(); - Gw.block<3,3>(STATESIZE-3,0) = Matrix3d::Zero(); + Gw = Matrix<double,STATESIZE,3>::Zero(); } #if STATESIZE==13 |