From fe4ed819b186d56c7c66e196c4717ddc4ab99415 Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Thu, 6 Apr 2017 11:44:05 -0500 Subject: Implement quaternion covariance Pq = J*Pa*J' where J is the Jacobian of the euler to quaternion function --- src/main.h | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'src/main.h') diff --git a/src/main.h b/src/main.h index f78158d..5fa7ee6 100644 --- a/src/main.h +++ b/src/main.h @@ -49,6 +49,7 @@ using Eigen::Matrix; using Eigen::Matrix3d; +using Eigen::Matrix4d; using Eigen::Quaterniond; using Eigen::Vector3d; @@ -57,7 +58,7 @@ int parseLine(char *line, message *msg); timestamp update_dt(const timestamp t, timestamp *t_old); #if STATESIZE==13 -void covCallback(const message &msg, State &mu); +void covCallback(const message &msg, State &mu, const attitude_t &att); void imgCallback(message &msg, State &mu, Camera &cam); void imuCallback(const message &msg, State &mu, const timestamp dt); void utmCallback(const message &msg, State &mu); @@ -68,6 +69,7 @@ void imuCallback(const message &msg, State &mu, const Quaterniond &q, const time void utmCallback(const message &msg, State &mu, const Quaterniond &q); #endif void pvaCallback(const message &msg, Matrix &X, Quaterniond &q); +Matrix attitude_jacobian(double roll, double pitch, double yaw); #endif /* ----- #ifndef main_INC ----- */ -- cgit v1.1