diff options
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 9 |
1 files changed, 7 insertions, 2 deletions
diff --git a/src/state.cpp b/src/state.cpp index c44aafe..3f2d3f4 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -803,10 +803,15 @@ State::velocity_covariance ( const Matrix<double,3,3> &p ) } /* ----- end of method State::velocity_covariance ----- */ void -State::unicsv ( ) +State::unicsv ( const double time ) { - body->unicsv(); + body->unicsv(time); printf(",%d\n", features.size()); +#ifdef FEATUREMAP + for (auto feature:features ) { + feature->unicsv(time,body->ned(),body->qhat()); + } +#endif return ; } /* ----- end of method State::unicsv ----- */ |