diff options
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/state.h b/src/state.h index 3a90217..7a5835d 100644 --- a/src/state.h +++ b/src/state.h @@ -38,7 +38,7 @@ class State 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 H ( 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 ); @@ -59,7 +59,7 @@ 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 Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z ); + void update ( const Quaterniond &q, const std::vector<measurement_t> &z ); /* ==================== OPERATORS ======================================= */ Matrix<double,Dynamic,1> innovation( const std::vector<measurement_t> &z, const Quaterniond &q); |