diff options
Diffstat (limited to 'src/state.h')
| -rw-r--r-- | src/state.h | 7 |
1 files changed, 6 insertions, 1 deletions
diff --git a/src/state.h b/src/state.h index 0e1fe90..11bfa46 100644 --- a/src/state.h +++ b/src/state.h @@ -9,9 +9,11 @@ #include "feature.h" #include "types.h" -#define MAXFEATURES 30 +#define MAXFEATURES 50 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once #define FULLS // Comment out to treat each measurement independently. +//#define BLOCKSI +//#define MEAS1 using Eigen::Dynamic; using Eigen::Matrix; using Eigen::MatrixXd; @@ -42,7 +44,10 @@ class State int Hrows( const std::vector<measurement_t> &z ); MatrixXd Q(double dt); MatrixXd R( const std::vector<measurement_t> &z ); + MatrixXd blockSI( const std::vector<measurement_t> &z, const Quaterniond &q); Matrix<double,9,9> Pxx(); + Matrix<double,9,3> Pxy(int id); + Matrix<double,3,3> Pyy(int id); Matrix<double,Dynamic,6> L(); /* ==================== MUTATORS ======================================= */ |