void jacInput(mtJacInput& J, const mtInput& input, const mtMeas& meas, double dt = 0.0) const{
J.setZero();
rot::EulerAnglesYprPD ypr(input.template get<mtInput::_att>());
const double theta = ypr.pitch();
const double phi = ypr.roll();
const double t2 = cos(theta);
const double t3 = 1.0/t2;
const double t4 = cos(phi);
const double t5 = sin(phi);
const double t6 = sin(theta);
J(0,0) = 0.0;
J(0,1) = t3*t5;
J(0,2) = t3*t4;
J(1,0) = 0.0;
J(1,1) = t4;
J(1,2) = -t5;
J(2,0) = 1.0;
J(2,1) = t3*t5*t6;
J(2,2) = t3*t4*t6;
}
/** \brief Computes the Jacobian for the update step of the filter.
*
* @param F - Jacobian for the update step of the filter.
* @param state - Filter state.
* @param meas - Not used.
* @param dt - Not used.
*/
void jacInput(mtJacInput& F, const mtState& state, const mtMeas& meas, double dt = 0.0) const{
F.setZero();
F.template block<3,3>(mtInnovation::template getId<mtInnovation::_vel>(),mtState::template getId<mtState::_vel>()) = Eigen::Matrix3d::Identity();
}