From 0862825c7e37a45c343559b7c18a21fc0bb965f9 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 23:01:15 -0500
Subject: Start Feature::h() method

---
 src/body.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index 2832ea4..3796c41 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -149,7 +149,7 @@ Body::h ( )
  *--------------------------------------------------------------------------------------
  */
 Matrix<double,9,9>
-Body::F ( const Vector3d &ang, const Quaternion<double> &q )
+Body::F ( const Vector3d &ang, const Quaterniond &q )
 {
     Matrix<double,9,9> F = Matrix<double,9,9>::Zero();
     Matrix<double,3,3> Rbw(q.toRotationMatrix());
@@ -169,7 +169,7 @@ Body::F ( const Vector3d &ang, const Quaternion<double> &q )
  *--------------------------------------------------------------------------------------
  */
 void
-Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt)
+Body::motionModel ( const Vector3d &acc, const Vector3d &ang, const Quaterniond &q, const double dt)
 {
     Vector3d bias(X.segment(6,3));
     Vector3d gravity_world(0.,0.,9.80655);
-- 
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