From 92e9c6c89ec789926084e885d6439a3477b91b04 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 19 Mar 2017 15:09:40 -0500
Subject: Add feature Constructor

---
 src/feature.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

(limited to 'src/feature.cpp')

diff --git a/src/feature.cpp b/src/feature.cpp
index b83f8ee..99ea448 100644
--- a/src/feature.cpp
+++ b/src/feature.cpp
@@ -21,6 +21,21 @@
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Feature
+ *      Method:  Feature
+ * Description:  constructor
+ *--------------------------------------------------------------------------------------
+ */
+Feature::Feature (const Vector3d &pib, const Vector3d &xbw, const Quaterniond q )  /* constructor */
+{
+    X = pib;
+    xb0w = xbw;
+    q0 = q;
+}  /* -----  end of method Feature::Feature  (constructor)  ----- */
+
+
+/*
+ *--------------------------------------------------------------------------------------
+ *       Class:  Feature
  *      Method:  Feature :: S
  * Description:  Returns S, the information matrix for an independent
  * measurement of the feature. For correlated measurements, combine Hx and Hy
-- 
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