From 2c0ce68acd031b67fdffaea3b2e50cca4f487633 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 4 Apr 2017 16:10:26 -0500
Subject: Full state mostly implemented.

STATESIZE 9 works just as it does for experiment04032017 tag. The
quaternion covariance is not being set correctly yet.
---
 src/feature.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/feature.cpp')

diff --git a/src/feature.cpp b/src/feature.cpp
index 9c6bf84..85396e3 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -350,7 +350,7 @@ Feature::Fx ( double dt )
     y2 = X[2];
     Matrix<double,3,STATESIZE> F;
     F = Matrix<double,3,STATESIZE>::Zero();
-    F.block<3,3>(0,3) << y0*y2,-y2, 
+    F.block<3,3>(0,3) << y0*y2,-y2, 0.,
                          y1*y2, 0.,-y2, 
                          y2*y2,  0,   0;
     F *= dt;
-- 
cgit v1.1