diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/feature.h b/src/feature.h index 2982276..971c952 100644 --- a/src/feature.h +++ b/src/feature.h @@ -22,6 +22,7 @@ class Feature /* ==================== ACCESSORS ======================================= */ /* ==================== MUTATORS ======================================= */ + void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt); /* ==================== OPERATORS ======================================= */ Matrix<double,3,9> Fx(); @@ -29,9 +30,9 @@ class Feature Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q); Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q); Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q); + Matrix<double,3,6> L(); + /* - void motionModel ( const Vector3d &acc, const Vector3d &ang, - const Quaterniond &q, const double dt); Matrix<double,9,9> Q(double dt); Matrix<double,1,1> R(); Matrix<double,1,1> S(const Matrix<double,9,9> &P); |