diff options
Diffstat (limited to 'src/feature.cpp')
| -rw-r--r-- | src/feature.cpp | 15 |
1 files changed, 15 insertions, 0 deletions
diff --git a/src/feature.cpp b/src/feature.cpp index b83f8ee..99ea448 100644 --- a/src/feature.cpp +++ b/src/feature.cpp @@ -21,6 +21,21 @@ /* *-------------------------------------------------------------------------------------- * Class: Feature + * Method: Feature + * Description: constructor + *-------------------------------------------------------------------------------------- + */ +Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ) /* constructor */ +{ + X = pib; + xb0w = xbw; + q0 = q; +} /* ----- end of method Feature::Feature (constructor) ----- */ + + +/* + *-------------------------------------------------------------------------------------- + * Class: Feature * Method: Feature :: S * Description: Returns S, the information matrix for an independent * measurement of the feature. For correlated measurements, combine Hx and Hy |