From 0663fb75c6bc42ccd093bed66820e92541ed419c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 28 Jan 2018 11:45:53 -0500
Subject: Add define for FEATUREMAP

This will print the feature information in the unicsv so that the mapper
Makefile can create a feature map.
---
 src/state.cpp | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

(limited to 'src/state.cpp')

diff --git a/src/state.cpp b/src/state.cpp
index c44aafe..3f2d3f4 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -803,10 +803,15 @@ State::velocity_covariance ( const Matrix<double,3,3> &p )
 }		/* -----  end of method State::velocity_covariance  ----- */
 
 void
-State::unicsv ( )
+State::unicsv ( const double time )
 {
-    body->unicsv();
+    body->unicsv(time);
     printf(",%d\n", features.size());
+#ifdef FEATUREMAP
+    for (auto feature:features ) {
+        feature->unicsv(time,body->ned(),body->qhat());
+    }
+#endif
     return ;
 }		/* -----  end of method State::unicsv  ----- */
 
-- 
cgit v1.1