From dea8e97a10ba23fc0aeb98ac57106540936c73f4 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 13:01:36 -0500
Subject: Change Body::update to Body::dx

Update was too vague since a lot of things get updated. dx more clearly refers
to the incremental update after a Kalman update.
---
 src/body.cpp  | 9 +++++----
 src/body.h    | 2 +-
 src/state.cpp | 2 +-
 3 files changed, 7 insertions(+), 6 deletions(-)

(limited to 'src')

diff --git a/src/body.cpp b/src/body.cpp
index 1fd66d4..e6afe8a 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -20,21 +20,22 @@
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Body
- *      Method:  Body :: update
+ *      Method:  Body :: dx
  * Description:  Increments the state by dx after a Kalman update.
  *--------------------------------------------------------------------------------------
  */
 void
-Body::update ( const Matrix<double,9,1> &dx )
+Body::dx ( const Matrix<double,9,1> &del )
 {
-    X += dx;
+    X += del;
+    // Constrain the height
     if (X[2]<-1.) {
         X[2]=-1.;
     } else if (X[2]>-0.2) {
         X[2]=-0.2;
     }
     return ;
-}		/* -----  end of method Body::update  ----- */
+}		/* -----  end of method Body::dx  ----- */
 
 void
 Body::vel ( const Matrix<double,3,1> &v )
diff --git a/src/body.h b/src/body.h
index 4bb9013..bdf8c28 100644
--- a/src/body.h
+++ b/src/body.h
@@ -27,7 +27,7 @@ class Body
         /* ====================  MUTATORS      ======================================= */
         void accelerometer_bias( const Vector3d &b);
         void pos( const UTM &utm);
-        void update(const Matrix<double,9,1> &dx);
+        void dx( const Matrix<double,9,1> &del);
         void vel(const Matrix<double,3,1> &v);
 
         /* ====================  OPERATORS     ======================================= */
diff --git a/src/state.cpp b/src/state.cpp
index 281d22e..1df68eb 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -172,7 +172,7 @@ State::kalmanUpdate( const MatrixXd &h, const MatrixXd &S,
     y = innovation(z,q);
     Matrix<double,Dynamic,1> dx;
     dx = K*y;
-    body->update(dx.segment<9>(0));
+    body->dx(dx.segment<9>(0));
     {
         int row=9;
         for (auto i=features.begin(); i!=features.end(); ++i, row+=3) {
-- 
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