From 728cc9930cbea478ca732b6c19bab275ef50c6d0 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 7 Apr 2017 17:28:23 -0500
Subject: Begin Vision class.

This class can display measurements and featuers and find new features.
When complete it will also perform measurements.
---
 src/state.h | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index cc10263..55e2d86 100644
--- a/src/state.h
+++ b/src/state.h
@@ -10,7 +10,7 @@
 #include "feature.h"
 #include "types.h"
 
-#define MAXFEATURES 50
+#define MAXFEATURES 30
 #define COVBIAS 2e-5
 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once
 #define DORANSAC            /*  */
@@ -48,10 +48,13 @@ class State
         MatrixXd H ( const std::vector<measurement_t> &z );
         MatrixXd blockSI( const std::vector<measurement_t> &z );
         Quaterniond qhat();
+        void featuresAsMeasurements(std::vector<measurement_t> &yk);
 #else
         MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt);
         MatrixXd H ( const Quaterniond &q, const std::vector<measurement_t> &z );
         MatrixXd blockSI( const std::vector<measurement_t> &z, const Quaterniond &q);
+        void featuresAsMeasurements(std::vector<measurement_t> &yk,
+                const Quaterniond &q);
 #endif
         int Hrows( const std::vector<measurement_t> &z );
         MatrixXd Q(double dt);
-- 
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