From de63c9b1dd8587516159affb79bdac0b9a5b5de8 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 25 Mar 2017 14:26:45 -0500
Subject: Add Feature methods.

Added a method to test if a feature is sane. It looks to see if the
feature has negative depth or if it is too close or too far away.

Added a method to output the feature location as a UTM struct.
---
 src/feature.h | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/feature.h')

diff --git a/src/feature.h b/src/feature.h
index fe2afea..3e99bab 100644
--- a/src/feature.h
+++ b/src/feature.h
@@ -29,11 +29,13 @@ class Feature
         /* ====================  ACCESSORS     ======================================= */
         int id();
         Matrix<double,3,3> P0();
+        UTM utm(Vector3d &xbw, Quaterniond &q); 
 
         /* ====================  MUTATORS      ======================================= */
         void motionModel ( const Vector3d &ang, const Vector3d &vel, const double dt);
 
         /* ====================  OPERATORS     ======================================= */
+        bool sane();
         Vector3d findDepth( const Quaterniond &q, double z, const Vector3d &xs,
                 const Vector3d &xr);
         Matrix<double,3,9> Fx( double dt );
-- 
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