From 7cd5d5cb4f7b25d6c6c265b9994a712d09b6c969 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 11 Apr 2017 13:50:02 -0500
Subject: Update process noise in body.

Process noise is a function of v and q.
---
 src/body.h | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index 6641ab5..1e64d86 100644
--- a/src/body.h
+++ b/src/body.h
@@ -16,7 +16,10 @@
 
 
 using Eigen::Matrix;
+using Eigen::Matrix3d;
+using Eigen::Matrix4d;
 using Eigen::Vector3d;
+using Eigen::Vector4d;
 using Eigen::Quaterniond;
 using std::cout;
 using std::cerr;
@@ -69,6 +72,7 @@ class Body
         Matrix<double,1,1> R();
         Matrix<double,3,3> skewSymmetric(const Vector3d &x);
         Matrix<double,4,4> omega(const Vector3d &x);
+        Matrix<double,4,3> qomega(const Quaterniond &q);
         void unicsv();
 
     protected:
-- 
cgit v1.1