diff options
| -rw-r--r-- | src/feature.cpp | 15 | ||||
| -rw-r--r-- | src/feature.h | 2 |
2 files changed, 16 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index b83f8ee..99ea448 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -21,6 +21,21 @@ /* *-------------------------------------------------------------------------------------- * Class: Feature + * Method: Feature + * Description: constructor + *-------------------------------------------------------------------------------------- + */ +Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ) /* constructor */ +{ + X = pib; + xb0w = xbw; + q0 = q; +} /* ----- end of method Feature::Feature (constructor) ----- */ + + +/* + *-------------------------------------------------------------------------------------- + * Class: Feature * Method: Feature :: S * Description: Returns S, the information matrix for an independent * measurement of the feature. For correlated measurements, combine Hx and Hy diff --git a/src/feature.h b/src/feature.h index 2a492c2..f3a47fd 100644 --- a/src/feature.h +++ b/src/feature.h @@ -18,7 +18,7 @@ class Feature { public: /* ==================== LIFECYCLE ======================================= */ - Feature (); /* constructor */ + Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ); /* constructor */ /* ==================== ACCESSORS ======================================= */ |