1 files changed, 2 insertions, 1 deletions
diff --git a/src/body.h b/src/body.h
index 1fc88ff..b5b2aae 100644
--- a/src/body.h
+++ b/src/body.h
@@ -25,10 +25,11 @@ class Body
         /* ====================  OPERATORS     ======================================= */
         void motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, 
                 const Vector3d &ang, const Quaternion<double> &q, const double dt);
-        void F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q);
+        Matrix<double,9,9> F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q);
         void skewSymmetric(const Vector3d &x, Matrix<double,3,3> &y);
         void H(Matrix<double, 1,9> &H);
         void h(const Matrix<double,9,1> &X, Matrix<double,1,1> &h);
+        Matrix<double,9,9> Q(double dt);
 
     protected:
         /* ====================  METHODS       ======================================= */