From c0727bbe1404e788b4ae82f6c6d99e105ecfacdf Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sat, 18 Mar 2017 18:09:39 -0500
Subject: Add fake z kalman update

---
 src/state.h | 3 +++
 1 file changed, 3 insertions(+)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 3a17ea5..743f5d8 100644
--- a/src/state.h
+++ b/src/state.h
@@ -21,6 +21,9 @@ class State
         /* ====================  OPERATORS     ======================================= */
         void Pkk1 ( Matrix<double,9,9> &P, const Matrix<double,9,9> &F,
             const Matrix<double,9,9> &Q );
+        void update (Matrix<double,9,1> &X, Matrix<double,9,9> &P, 
+                const Matrix<double,1,9> H, const Matrix<double,1,1> &h,
+                const Matrix<double,1,1> &z, const Matrix<double,1,1> &R);
 
     protected:
         /* ====================  METHODS       ======================================= */
-- 
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