From dea8e97a10ba23fc0aeb98ac57106540936c73f4 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 13:01:36 -0500
Subject: Change Body::update to Body::dx

Update was too vague since a lot of things get updated. dx more clearly refers
to the incremental update after a Kalman update.
---
 src/body.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index 1fd66d4..e6afe8a 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -20,21 +20,22 @@
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Body
- *      Method:  Body :: update
+ *      Method:  Body :: dx
  * Description:  Increments the state by dx after a Kalman update.
  *--------------------------------------------------------------------------------------
  */
 void
-Body::update ( const Matrix<double,9,1> &dx )
+Body::dx ( const Matrix<double,9,1> &del )
 {
-    X += dx;
+    X += del;
+    // Constrain the height
     if (X[2]<-1.) {
         X[2]=-1.;
     } else if (X[2]>-0.2) {
         X[2]=-0.2;
     }
     return ;
-}		/* -----  end of method Body::update  ----- */
+}		/* -----  end of method Body::dx  ----- */
 
 void
 Body::vel ( const Matrix<double,3,1> &v )
-- 
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