From b2cba6dc96c22f35fcf0df75527868cc36e93760 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 26 Mar 2017 16:33:20 -0500
Subject: Fully implemented EKF.

Still needs to be debugged as the result is way off, but it is all
there.
---
 src/feature.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index a405e8f..a169287 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -29,7 +29,6 @@ class Feature
 
         /* ====================  ACCESSORS     ======================================= */
         int id();
-        Vector2d initialView();
         Matrix<double,3,3> P0();
         UTM utm(Vector3d &xbw, Quaterniond &q); 
 
@@ -48,6 +47,7 @@ class Feature
         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();
+        Matrix<double,6,1> measurement_vector(const Vector3d &xs, const Vector3d &xr);
 
         Matrix<double,3,3> Q(const double dt);
         Matrix<double,6,6> R();
-- 
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