From fde220c19346797c4d55c2f479f7efb2f8c9073a Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 14:32:52 -0500
Subject: Add support for INSCOVS.

The position and velocity covariances are rotated into the correct
frames: NED and FRD.
---
 src/body.h | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index d668957..1fc88ff 100644
--- a/src/body.h
+++ b/src/body.h
@@ -23,8 +23,12 @@ class Body
         /* ====================  MUTATORS      ======================================= */
 
         /* ====================  OPERATORS     ======================================= */
-        void motionModel ( Matrix<double,9,1> &X, const Vector3d &acc, const Vector3d &ang, const Quaternion<double> &q, const double dt);
+        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);
         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);
 
     protected:
         /* ====================  METHODS       ======================================= */
-- 
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