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-rw-r--r--src/feature.cpp15
-rw-r--r--src/feature.h2
2 files changed, 16 insertions, 1 deletions
diff --git a/src/feature.cpp b/src/feature.cpp
index b83f8ee..99ea448 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -21,6 +21,21 @@
/*
*--------------------------------------------------------------------------------------
* Class: Feature
+ * Method: Feature
+ * Description: constructor
+ *--------------------------------------------------------------------------------------
+ */
+Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ) /* constructor */
+{
+ X = pib;
+ xb0w = xbw;
+ q0 = q;
+} /* ----- end of method Feature::Feature (constructor) ----- */
+
+
+/*
+ *--------------------------------------------------------------------------------------
+ * Class: Feature
* Method: Feature :: S
* Description: Returns S, the information matrix for an independent
* measurement of the feature. For correlated measurements, combine Hx and Hy
diff --git a/src/feature.h b/src/feature.h
index 2a492c2..f3a47fd 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -18,7 +18,7 @@ class Feature
{
public:
/* ==================== LIFECYCLE ======================================= */
- Feature (); /* constructor */
+ Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q ); /* constructor */
/* ==================== ACCESSORS ======================================= */