From 57bc3c5b99406e2dfa04ce38de12ac2f4e749248 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 31 Mar 2017 16:22:43 -0500
Subject: Add compile time flags.

---
 src/body.h | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index 90e1998..7bbd50d 100644
--- a/src/body.h
+++ b/src/body.h
@@ -6,6 +6,11 @@
 #define R_HEIGHT 2.5e-3            /* measurement noise of height measurement */
 #define IMU_NOISE 800e-6            /* IMU process noise */
 #define IMU_RANDOMWALK 50e-6      /* Bias process noise */
+//#define DOCLAMP
+#define MAXHEIGHT -1.5 /* Notion of max and min is reversed due to z pointing down */
+#define MINHEIGHT -0.3            /*  */
+
+
 using Eigen::Matrix;
 using Eigen::Vector3d;
 using Eigen::Quaterniond;
@@ -30,6 +35,7 @@ class Body
         /* ====================  MUTATORS      ======================================= */
         void accelerometer_bias( const Vector3d &b);
         void asVector(const Matrix<double,9,1> &m);
+        void clamp();
         void pos( const UTM &utm);
         void dx( const Matrix<double,9,1> &del);
         void vel(const Matrix<double,3,1> &v);
-- 
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