diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/feature.h b/src/feature.h index a405e8f..a169287 100644 --- a/src/feature.h +++ b/src/feature.h @@ -29,7 +29,6 @@ class Feature /* ==================== ACCESSORS ======================================= */ int id(); - Vector2d initialView(); Matrix<double,3,3> P0(); UTM utm(Vector3d &xbw, Quaterniond &q); @@ -48,6 +47,7 @@ class Feature 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(); + Matrix<double,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr); Matrix<double,3,3> Q(const double dt); Matrix<double,6,6> R(); |