1 files changed, 6 insertions, 0 deletions
diff --git a/src/body.h b/src/body.h
index 90e1998..7bbd50d 100644
--- a/src/body.h
+++ b/src/body.h
@@ -6,6 +6,11 @@
 #define R_HEIGHT 2.5e-3            /* measurement noise of height measurement */
 #define IMU_NOISE 800e-6            /* IMU process noise */
 #define IMU_RANDOMWALK 50e-6      /* Bias process noise */
+//#define DOCLAMP
+#define MAXHEIGHT -1.5 /* Notion of max and min is reversed due to z pointing down */
+#define MINHEIGHT -0.3            /*  */
+
+
 using Eigen::Matrix;
 using Eigen::Vector3d;
 using Eigen::Quaterniond;
@@ -30,6 +35,7 @@ class Body
         /* ====================  MUTATORS      ======================================= */
         void accelerometer_bias( const Vector3d &b);
         void asVector(const Matrix<double,9,1> &m);
+        void clamp();
         void pos( const UTM &utm);
         void dx( const Matrix<double,9,1> &del);
         void vel(const Matrix<double,3,1> &v);