From c0727bbe1404e788b4ae82f6c6d99e105ecfacdf Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 18:09:39 -0500
Subject: Add fake z kalman update

---
 src/main.h | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

(limited to 'src/main.h')

diff --git a/src/main.h b/src/main.h
index d1932c8..36802fd 100644
--- a/src/main.h
+++ b/src/main.h
@@ -18,9 +18,13 @@
 #define MAXLINE 8192
 #define MAXFILENAME 1024
 
+using Eigen::Matrix;
+using Eigen::Matrix3d;
+using Eigen::Quaternion;
+using Eigen::Vector3d;
 // A struct for storing PVA covariance.
 typedef struct {
-    Eigen::Matrix3d position,velocity,attitude;
+    Matrix3d position,velocity,attitude;
 } covariance_t;
 
 // A struct for storing x,y,z data.
@@ -84,15 +88,12 @@ timestamp update_dt(const timestamp t, timestamp *t_old);
 #ifdef  USE_ROS
 void imuCallback();
 #else      /* -----  not USE_ROS  ----- */
-void covCallback(const message &msg, Eigen::Matrix<double,9,9> &P,
-        const Eigen::Quaternion<double> &q);
+void covCallback(const message &msg, Matrix<double,9,9> &P, const Quaternion<double> &q);
 void imgCallback(const message *msg);
-void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X,
-        Eigen::Matrix<double,9,9> &P, const Eigen::Quaternion<double> &q,
-        const timestamp dt);
-void pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X,
-        Eigen::Quaternion<double> &q);
-void utmCallback(const message &msg, Eigen::Matrix<double,9,1> &X);
+void imuCallback(const message &msg, Matrix<double,9,1> &X, Matrix<double,9,9> &P,
+        const Quaternion<double> &q, const timestamp dt);
+void pvaCallback(const message &msg, Matrix<double,9,1> &X, Quaternion<double> &q);
+void utmCallback(const message &msg, Matrix<double,9,1> &X, Matrix<double,9,9> &P);
 #endif     /* -----  not USE_ROS  ----- */
 
 #endif   /* ----- #ifndef main_INC  ----- */
-- 
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