diff options
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/body.cpp b/src/body.cpp index ae43e58..1fd66d4 100644 --- a/src/body.cpp +++ b/src/body.cpp @@ -62,12 +62,12 @@ Body::S ( const Matrix<double,9,9> &Pxx ) /* *-------------------------------------------------------------------------------------- * Class: Body - * Method: Body :: enu - * Description: Stores the position input as ENU. Internally stored as NED. + * Method: Body :: pos + * Description: Stores the UTM position in NED format. *-------------------------------------------------------------------------------------- */ void -Body::enu ( const UTM &utm ) +Body::pos ( const UTM &utm ) { utm_c = utm.zone_c; utm_i = utm.zone_i; @@ -75,7 +75,7 @@ Body::enu ( const UTM &utm ) X[1] = utm.easting; X[2] = -utm.up; return ; -} /* ----- end of method Body::enu ----- */ +} /* ----- end of method Body::pos ----- */ /* @@ -89,7 +89,7 @@ Matrix<double,1,1> Body::R() { Matrix<double,1,1> R; - R << 1e-6; + R << 1e-2; return R; } @@ -110,7 +110,7 @@ Body::Q (double dt) Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity(); Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity(); Q *= 800e-5; - Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity(); + Q.block<3,3>(6,6) = dt*dt*5e-7*Matrix<double,3,3>::Identity(); return Q; } /* ----- end of method Body::q ----- */ |