diff options
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/state.h b/src/state.h index 43342a7..2a18e36 100644 --- a/src/state.h +++ b/src/state.h @@ -38,7 +38,9 @@ class State 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 ); + int Hrows( const std::vector<measurement_t> &z ); MatrixXd Q(double dt); + MatrixXd R( const std::vector<measurement_t> &z ); Matrix<double,9,9> Pxx(); Matrix<double,Dynamic,6> L(); |