From 9533fbcda07254b65a53a9109555662d9a09086c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 28 Mar 2017 09:53:29 -0500
Subject: update

---
 src/body.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index ff54e89..6985278 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -31,7 +31,7 @@ Body::dx ( const Matrix<double,9,1> &del )
     // Constrain the height
     if (X[2]<-1.) {
         X[2]=-1.;
-    } else if (X[2]>-0.2) {
+    } else if (X[2]>-0.3) {
         X[2]=-0.2;
     }
     return ;
@@ -90,7 +90,7 @@ Matrix<double,1,1>
 Body::R()
 {
     Matrix<double,1,1> R;
-    R << 1e-2;
+    R << 1e-3;
     return R;
 }
 
@@ -110,8 +110,8 @@ Body::Q (double dt)
     Q.block<3,3>(3,0) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity();
-    Q *= 800e-5;
-    Q.block<3,3>(6,6) = dt*dt*5e-7*Matrix<double,3,3>::Identity();
+    Q *= 800e-6;
+    Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity();
     return Q;
 }		/* -----  end of method Body::q  ----- */
 
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