From 552df867b38b5873f3562ae9f762c30e94cf9a17 Mon Sep 17 00:00:00 2001
From: Miller
Date: Mon, 3 Jul 2017 21:48:37 -0500
Subject: Make it run on CC

---
 src/state.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

(limited to 'src/state.cpp')

diff --git a/src/state.cpp b/src/state.cpp
index cba336e..cbf0e15 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -215,7 +215,7 @@ State::partialUpdate( const MatrixXd &h, const MatrixXd &S,
 {
     MatrixXd K;
     // P^T is implied here since P is symmetric
-    K = S.fullPivLu().solve(h*P).transpose();
+    K = S.fullPivHouseholderQr().solve(h*P).transpose();
 
     // Compute the innovation or error
     Matrix<double,Dynamic,1> y;
@@ -1111,8 +1111,10 @@ State::featuresAsMeasurements ( vector<measurement_t> &yk, const Camera &cam,
         // Get ellipse
         Matrix<double,6,6> s;
         s = (*i)->S(Pxx(), Pxy((*i)->id()), Pyy((*i)->id()), body->ned(), q);
-        z.Ssrc << s(0,0), s(1,1);
-        z.Sref << s(4,4), s(5,5);
+	z.Ssrc[0] = s(0,0);
+	z.Ssrc[1] = s(1,1);
+	z.Sref[0] = s(4,4);
+	z.Sref[1] = s(5,5);
 
         yk.push_back(z);
     }
-- 
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