diff options
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/state.h b/src/state.h index cc10263..55e2d86 100644 --- a/src/state.h +++ b/src/state.h @@ -10,7 +10,7 @@ #include "feature.h" #include "types.h" -#define MAXFEATURES 50 +#define MAXFEATURES 30 #define COVBIAS 2e-5 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once #define DORANSAC /* */ @@ -48,10 +48,13 @@ class State MatrixXd H ( const std::vector<measurement_t> &z ); MatrixXd blockSI( const std::vector<measurement_t> &z ); Quaterniond qhat(); + void featuresAsMeasurements(std::vector<measurement_t> &yk); #else MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt); MatrixXd H ( const Quaterniond &q, const std::vector<measurement_t> &z ); MatrixXd blockSI( const std::vector<measurement_t> &z, const Quaterniond &q); + void featuresAsMeasurements(std::vector<measurement_t> &yk, + const Quaterniond &q); #endif int Hrows( const std::vector<measurement_t> &z ); MatrixXd Q(double dt); |