diff options
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/src/state.h b/src/state.h index db45ba2..43342a7 100644 --- a/src/state.h +++ b/src/state.h @@ -11,6 +11,7 @@ #define MAXFEATURES 30 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once +#define FULLS // Comment out to treat each measurement independently. using Eigen::Matrix; using Eigen::MatrixXd; using Eigen::Dynamic; @@ -33,7 +34,10 @@ class State /* ==================== ACCESSORS ======================================= */ bool exists(int id); + int rowById(int id); + Feature *featureById(int id); MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt); + MatrixXd H ( const Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z ); MatrixXd Q(double dt); Matrix<double,9,9> Pxx(); Matrix<double,Dynamic,6> L(); @@ -50,7 +54,7 @@ class State std::list<Feature *>::iterator removeFeature(std::list<Feature *>::iterator &i, int j); void velocity_covariance(const Matrix<double,3,3> &p); void vel(const Matrix<double,3,1> &v); - void update ( const Matrix<double,1,1> &z); + void update ( const Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z ); /* ==================== OPERATORS ======================================= */ void unicsv(); |