From f2a48a3a12475b52e9fa525541eeebf0b3f7c7e8 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 15:15:47 -0500
Subject: Update P during imuCallback

---
 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 1fc88ff..b5b2aae 100644
--- a/src/body.h
+++ b/src/body.h
@@ -25,10 +25,11 @@ class Body
         /* ====================  OPERATORS     ======================================= */
         void motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, 
                 const Vector3d &ang, const Quaternion<double> &q, const double dt);
-        void F(const Matrix<double,9,1> &X, const Vector3d &ang, const Quaternion<double> &q);
+        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,9,9> Q(double dt);
 
     protected:
         /* ====================  METHODS       ======================================= */
-- 
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