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.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 1efb0c2..c91c1ae 100644
--- a/src/state.h
+++ b/src/state.h
@@ -8,7 +8,7 @@
 using Eigen::Matrix;
 using Eigen::Dynamic;
 using Eigen::Vector3d;
-using Eigen::Quaternion;
+using Eigen::Quaterniond;
 /*
  * =====================================================================================
  *        Class:  State
@@ -27,11 +27,11 @@ class State
         void accelerometer_bias(const Vector3d &b);
         void enu(const UTM &utm);
         void motionModel(const Vector3d &acc, const Vector3d &ang,
-                const Quaternion<double> &q, const double dt);
+                const Quaterniond &q, const double dt);
         void position_covariance(const Matrix<double,3,3> &p);
         void velocity_covariance(const Matrix<double,3,3> &p);
         void vel(const Matrix<double,3,1> &v);
-        void Pkk1 ( const Vector3d &ang, const Quaternion<double> &q, const double dt);
+        void Pkk1 ( const Vector3d &ang, const Quaterniond &q, const double dt);
 
         /* ====================  OPERATORS     ======================================= */
         void update ( const Matrix<double,1,1> &z);
-- 
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