diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/state.cpp | 1 | ||||
| -rw-r--r-- | src/vision.cpp | 2 |
2 files changed, 2 insertions, 1 deletions
diff --git a/src/state.cpp b/src/state.cpp index 32801f8..055a3d1 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -105,6 +105,7 @@ State::H ( const Quaterniond &q, const vector<measurement_t> &z ) h.block<4,STATESIZE>(row,0) = fi->Hx(pos,q).block<4,STATESIZE>(2,0); h.block<4,3>(row,col) = fi->Hy(pos,q).block<4,3>(2,0); row += 4; + break; case HEIGHT: h.block<1,STATESIZE>(row,0) = body->H(); diff --git a/src/vision.cpp b/src/vision.cpp index 4d4ba2e..2b190c0 100644 --- a/src/vision.cpp +++ b/src/vision.cpp @@ -200,7 +200,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin, } } } - z.z_type = BOTH; + z.z_type = mt; zout.push_back(z); } return ; |