From f21a53aa32f9a005258b129c1e0ef5c7d71890df Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 31 Mar 2017 15:54:02 -0500
Subject: Add 1-Point RANSAC.

1-Pt RANSAC is a method for detecting outlier measurements in the EKF
framework. This algorithm is as described in Civera 2010.
---
 src/body.cpp | 13 +++++++++++++
 1 file changed, 13 insertions(+)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index 041d971..1e1f57d 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -251,3 +251,16 @@ Body::vel (  )
     return X.segment<3>(3);
 }		/* -----  end of method Body::vel  ----- */
 
+Matrix<double,9,1>
+Body::asVector (  )
+{
+    return X;
+}		/* -----  end of method Body::asVector  ----- */
+
+void
+Body::asVector ( const Matrix<double,9,1> &m )
+{
+    X = m;
+    return ;
+}		/* -----  end of method Body::asVector  ----- */
+
-- 
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