diff options
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/body.cpp b/src/body.cpp index 2832ea4..3796c41 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -149,7 +149,7 @@ Body::h ( ) *-------------------------------------------------------------------------------------- */ Matrix<double,9,9> -Body::F ( const Vector3d &ang, const Quaternion<double> &q ) +Body::F ( const Vector3d &ang, const Quaterniond &q ) { Matrix<double,9,9> F = Matrix<double,9,9>::Zero(); Matrix<double,3,3> Rbw(q.toRotationMatrix()); @@ -169,7 +169,7 @@ Body::F ( const Vector3d &ang, const Quaternion<double> &q ) *-------------------------------------------------------------------------------------- */ void -Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt) +Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaterniond &q, const double dt) { Vector3d bias(X.segment(6,3)); Vector3d gravity_world(0.,0.,9.80655); |