dynamic matrix size for covariance

utiasASRL · Oct 17, 2020 · 01f7d7c · 01f7d7c
1 parent 2f938a7
commit 01f7d7c
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/include/steam/trajectory/SteamTrajVar.hpp b/include/steam/trajectory/SteamTrajVar.hpp
@@ -57,7 +57,7 @@ class SteamTrajVar
   //////////////////////////////////////////////////////////////////////////////////////////////
   const steam::Time& getTime() const;
 
-  const Eigen::Matrix<double,12,12> getCovariance() const;
+  const Eigen::MatrixXd getCovariance() const;
 
   bool covarianceSet() const;
 

diff --git a/src/trajectory/SteamTrajVar.cpp b/src/trajectory/SteamTrajVar.cpp
@@ -52,7 +52,7 @@ const VectorSpaceStateVar::Ptr& SteamTrajVar::getAcceleration() const {
   throw std::runtime_error("Steam trajectory variable does not have an acceleration state!");
 }
 
-const Eigen::Matrix<double,12,12> SteamTrajVar::getCovariance() const {
+const Eigen::MatrixXd SteamTrajVar::getCovariance() const {
   return cov_;
 }