From bd36055542b49b0bb7611ec9c320f7bbabaf6c27 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 25 Mar 2017 18:47:40 -0500
Subject: Add State::R() method, refactor H()

Method to compute R for given vector of z measurements. Added a method
State::Hrows(z) to return number of rows in H(z).
---
 src/state.h | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 43342a7..2a18e36 100644
--- a/src/state.h
+++ b/src/state.h
@@ -38,7 +38,9 @@ class State
         Feature *featureById(int id);
         MatrixXd F(const Quaterniond &q, const Vector3d &w, double dt);
         MatrixXd H ( const Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z );
+        int Hrows( const std::vector<measurement_t> &z );
         MatrixXd Q(double dt);
+        MatrixXd R( const std::vector<measurement_t> &z );
         Matrix<double,9,9> Pxx();
         Matrix<double,Dynamic,6> L();
 
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