From 1c543489862cd0bf9c559cee6575baf20f84b2d0 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 11 Apr 2017 10:57:04 -0500
Subject: Remove features after 5 timesteps without measurements

---
 src/feature.h | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index 65850af..c0d3ac6 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -60,6 +60,8 @@ class Feature
         void asVector(const Vector3d &m);
         void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
         void dx( const Vector3d &del);
+        void seen();
+        bool since(int N) const;
 
         /* ====================  OPERATORS     ======================================= */
         bool sane();
@@ -98,6 +100,7 @@ class Feature
         /* ====================  DATA MEMBERS  ======================================= */
         int _id;
         Mat _patch;
+        unsigned int lastseen;
         Quaterniond q0;
         Vector3d X;
         Vector3d X0;
-- 
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