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.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index f9d3157..90e1998 100644
--- a/src/body.h
+++ b/src/body.h
@@ -3,7 +3,7 @@
 #include <Eigen/Dense>
 #include <iostream>
 #include "types.h"
-#define R_HEIGHT 1e-2            /* measurement noise of height measurement */
+#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 */
 using Eigen::Matrix;
@@ -23,11 +23,13 @@ class Body
         Body (){};                             /* constructor */
 
         /* ====================  ACCESSORS     ======================================= */
+        Matrix<double,9,1> asVector();
         Vector3d ned();
         Vector3d vel();
 
         /* ====================  MUTATORS      ======================================= */
         void accelerometer_bias( const Vector3d &b);
+        void asVector(const Matrix<double,9,1> &m);
         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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