From fe4ed819b186d56c7c66e196c4717ddc4ab99415 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Thu, 6 Apr 2017 11:44:05 -0500
Subject: Implement quaternion covariance

Pq = J*Pa*J'

where J is the Jacobian of the euler to quaternion function
---
 src/state.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index b04ae9c..cc10263 100644
--- a/src/state.h
+++ b/src/state.h
@@ -74,7 +74,7 @@ class State
                 const std::vector<measurement_t> &z);
         void Pkk1 ( const Vector3d &ang, const double dt);
         void ransacUpdate(std::vector<measurement_t> &z);
-        void quaternion_covariance();
+        void quaternion_covariance(const Matrix<double,4,4> &covq);
         void qhat(const Quaterniond &q);
 #else
         void handle_measurements( const std::vector<measurement_t> & z, const Quaterniond &q);
-- 
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