diff options
Diffstat (limited to 'src/feature.h')
| -rw-r--r-- | src/feature.h | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/feature.h b/src/feature.h index 077a617..2982276 100644 --- a/src/feature.h +++ b/src/feature.h @@ -28,7 +28,7 @@ class Feature Matrix<double,3,3> Fy( const Vector3d &vel, const Vector3d &ang); 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(); + Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q); /* void motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaterniond &q, const double dt); @@ -46,6 +46,8 @@ class Feature private: /* ==================== METHODS ======================================= */ + Vector3d p2x(const Vector3d &p); + Vector3d x2p(const Vector3d &x); /* ==================== DATA MEMBERS ======================================= */ Vector3d X; |