From c7af11e6a252a7dfbacd9a702bbe3ee0a9127b17 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 26 Mar 2017 15:21:00 -0500
Subject: Set height above water.

---
 src/state.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 3a90217..7a5835d 100644
--- a/src/state.h
+++ b/src/state.h
@@ -38,7 +38,7 @@ class State
         int rowById(int id);
         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 );
+        MatrixXd H ( 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 );
@@ -59,7 +59,7 @@ class State
         std::list<Feature *>::iterator removeFeature(std::list<Feature *>::iterator &i, int j);
         void velocity_covariance(const Matrix<double,3,3> &p);
         void vel(const Matrix<double,3,1> &v);
-        void update ( const Vector3d &pos, const Quaterniond &q, const std::vector<measurement_t> &z );
+        void update ( const Quaterniond &q, const std::vector<measurement_t> &z );
 
         /* ====================  OPERATORS     ======================================= */
         Matrix<double,Dynamic,1> innovation( const std::vector<measurement_t> &z, const Quaterniond &q);
-- 
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