diff options
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/state.cpp b/src/state.cpp index 5a334c5..05c3b30 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -91,6 +91,7 @@ State::H ( const Quaterniond &q, const vector<measurement_t> &z ) } fi = featureById( z[i].id ); h.block<4,STATESIZE>(row,0) = fi->Hx(pos,q).block<4,STATESIZE>(0,0); + h.block<4,3>(row,col) = fi->Hy(pos,q).block<4,3>(0,0); break; case HEIGHT: |