diff options
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 9 |
1 files changed, 5 insertions, 4 deletions
diff --git a/src/body.cpp b/src/body.cpp index 1fd66d4..e6afe8a 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -20,21 +20,22 @@ /* *-------------------------------------------------------------------------------------- * Class: Body - * Method: Body :: update + * Method: Body :: dx * Description: Increments the state by dx after a Kalman update. *-------------------------------------------------------------------------------------- */ void -Body::update ( const Matrix<double,9,1> &dx ) +Body::dx ( const Matrix<double,9,1> &del ) { - X += dx; + X += del; + // Constrain the height if (X[2]<-1.) { X[2]=-1.; } else if (X[2]>-0.2) { X[2]=-0.2; } return ; -} /* ----- end of method Body::update ----- */ +} /* ----- end of method Body::dx ----- */ void Body::vel ( const Matrix<double,3,1> &v ) |