From 0862825c7e37a45c343559b7c18a21fc0bb965f9 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 23:01:15 -0500
Subject: Start Feature::h() method

---
 src/main.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index 6cc4317..5d4ea71 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -31,7 +31,7 @@ using std::cerr;
 
 #else      /* -----  not USE_ROS  ----- */
 void
-covCallback(const message &msg, State &mu, const Quaternion<double> &q)
+covCallback(const message &msg, State &mu, const Quaterniond &q)
 {
     if (seencov && seenutm && seenpva) return;
     seencov=true;
@@ -49,7 +49,7 @@ imgCallback(const message *msg)
 }
 
 void 
-imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const timestamp dt)
+imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp dt)
 {
     if (!seenutm || !seenpva || !seencov || (dt.secs==0 && dt.nsecs==0)) return;
     Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z);
@@ -63,7 +63,7 @@ imuCallback(const message &msg, State &mu, const Quaternion<double> &q, const ti
 }
 
 void
-pvaCallback(const message &msg, State &mu, Quaternion<double> &q)
+pvaCallback(const message &msg, State &mu, Quaterniond &q)
 {
     // Update quaternion
     using Eigen::AngleAxisd;
@@ -76,7 +76,7 @@ pvaCallback(const message &msg, State &mu, Quaternion<double> &q)
     R = AngleAxisd(yaw, Vector3d::UnitZ())
       * AngleAxisd(roll, Vector3d::UnitX())
       *  AngleAxisd(pitch, Vector3d::UnitY());
-    q = Quaternion<double>(R);
+    q = Quaterniond(R);
 
     // Set body velocity
     if (!seenpva || !seencov || !seenutm) {
@@ -217,7 +217,7 @@ int
 main(int argc, char **argv)
 {
     State mu;
-    Quaternion<double> qbw;
+    Quaterniond qbw;
     // bias in FRD coordinates
     Vector3d acc_bias;
     acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229;
-- 
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