diff options
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 2 |
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) { |