HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: solaESKF.hpp

Revision:
79:365ea9277167
Parent:
78:e36a7b844fb5
Child:
80:b241c058df83
--- a/solaESKF.hpp	Mon Dec 06 08:24:13 2021 +0000
+++ b/solaESKF.hpp	Fri Dec 10 10:42:09 2021 +0000
@@ -1,8 +1,9 @@
 #ifndef __solaESKF_HPP__
 #define __solaESKF_HPP__
 
-#include <Eigen/Core.h>
-#include <Eigen/LU.h>
+#include <Eigen/Dense.h>
+//#include <Eigen/Core.h>
+//#include <Eigen/LU.h>
 #include <cmath>
 
 using namespace Eigen;
@@ -59,7 +60,7 @@
     void updateGPSPosition(Vector3f posgps, float palt, Matrix3f R);
     void updateGPSVelocity(Vector3f velgps, Matrix3f R);
     void updateAcc(Vector3f acc, Matrix3f R); 
-    void updateHeading(float a, Matrix3f R);  
+    void updateHeading(float a, Matrix<float, 1, 1> R);  
     void fuseErr2Nominal();
     
     void computeDcm(Matrix3f& dcm, Vector4f quat);