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/state.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/state.cpp')

diff --git a/src/state.cpp b/src/state.cpp
index 304e5ed..f12ec77 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -67,7 +67,7 @@ State::update ( const Matrix<double,1,1> &z )
  *--------------------------------------------------------------------------------------
  */
 void
-State::Pkk1 ( const Vector3d &ang, const Quaternion<double> &q, const double dt)
+State::Pkk1 ( const Vector3d &ang, const Quaterniond &q, const double dt)
 {
     Matrix<double,9,9> F,Q;
     Q = body->Q(dt);
@@ -80,7 +80,7 @@ State::Pkk1 ( const Vector3d &ang, const Quaternion<double> &q, const double dt)
 
 void
 State::motionModel ( const Vector3d &acc, const Vector3d &ang,
-    const Quaternion<double> &q, const double dt)
+    const Quaterniond &q, const double dt)
 {
     Pkk1(ang,q,dt);
     body->motionModel(acc,ang,q,dt);
-- 
cgit v1.1