From 666d4e7b02b97402d2e977864528b743b9e1c184 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 19 Mar 2017 14:26:28 -0500
Subject: Add motion model.

The motion model is broken into two parts, the creation of the L matrix
and the state update. This means that ydot can be computed from the
state object for many features at once, saving computation time.
---
 src/feature.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index 2982276..971c952 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -22,6 +22,7 @@ class Feature
         /* ====================  ACCESSORS     ======================================= */
 
         /* ====================  MUTATORS      ======================================= */
+        void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
 
         /* ====================  OPERATORS     ======================================= */
         Matrix<double,3,9> Fx();
@@ -29,9 +30,9 @@ class Feature
         Matrix<double,6,9> Hx( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,3> Hy( const Vector3d &pos, const Quaterniond &q);
         Matrix<double,6,1> h( const Vector3d &x, const Quaterniond &q);
+        Matrix<double,3,6> L();
+
         /*
-        void motionModel ( const Vector3d &acc, const Vector3d &ang, 
-                const Quaterniond &q, const double dt);
         Matrix<double,9,9> Q(double dt);
         Matrix<double,1,1> R();
         Matrix<double,1,1> S(const Matrix<double,9,9> &P);
-- 
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