From c0727bbe1404e788b4ae82f6c6d99e105ecfacdf Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 18:09:39 -0500
Subject: Add fake z kalman update

---
 src/body.h | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index b5b2aae..04196d2 100644
--- a/src/body.h
+++ b/src/body.h
@@ -28,8 +28,9 @@ class Body
         Matrix<double,9,9> F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q);
         void skewSymmetric(const Vector3d &x, Matrix<double,3,3> &y);
         void H(Matrix<double, 1,9> &H);
-        void h(const Matrix<double,9,1> &X, Matrix<double,1,1> &h);
+        Matrix<double,1,1> h(const Matrix<double,9,1> &X);
         Matrix<double,9,9> Q(double dt);
+        Matrix<double,1,1> R();
 
     protected:
         /* ====================  METHODS       ======================================= */
-- 
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