From dea8e97a10ba23fc0aeb98ac57106540936c73f4 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 13:01:36 -0500
Subject: Change Body::update to Body::dx

Update was too vague since a lot of things get updated. dx more clearly refers
to the incremental update after a Kalman update.
---
 src/state.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/state.cpp')

diff --git a/src/state.cpp b/src/state.cpp
index 281d22e..1df68eb 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -172,7 +172,7 @@ State::kalmanUpdate( const MatrixXd &h, const MatrixXd &S,
     y = innovation(z,q);
     Matrix<double,Dynamic,1> dx;
     dx = K*y;
-    body->update(dx.segment<9>(0));
+    body->dx(dx.segment<9>(0));
     {
         int row=9;
         for (auto i=features.begin(); i!=features.end(); ++i, row+=3) {
-- 
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