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-rw-r--r--src/state.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.cpp b/src/state.cpp
index 281d22e..1df68eb 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -172,7 +172,7 @@ State::kalmanUpdate( const MatrixXd &h, const MatrixXd &S,
y = innovation(z,q);
Matrix<double,Dynamic,1> dx;
dx = K*y;
- body->update(dx.segment<9>(0));
+ body->dx(dx.segment<9>(0));
{
int row=9;
for (auto i=features.begin(); i!=features.end(); ++i, row+=3) {