From 3b19a4a0791cf971b136bcc5e34f57539a7ea830 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 30 Aug 2017 14:49:32 -0500
Subject: process noise update

---
 src/body.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/body.cpp b/src/body.cpp
index fdd41a9..3000eeb 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -137,8 +137,7 @@ Body::Q (double dt)
         Gw.block<3,3>(3,0) = dt*skewSymmetric(vel());
         Gw.block<3,3>(STATESIZE-3,0) = Matrix3d::Zero();
     } else {
-        Gw.block<6,0>(0,0) = Matrix<double,6,0>::Zero();
-        Gw.block<3,3>(STATESIZE-3,0) = Matrix3d::Zero();
+        Gw = Matrix<double,STATESIZE,3>::Zero();
     }
 
 #if STATESIZE==13
-- 
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