From 0a446795236be15da324123d800a06386bc05d39 Mon Sep 17 00:00:00 2001
From: Ines <ines.sorrentino10@gmail.com>
Date: Mon, 22 Jan 2024 12:26:31 +0100
Subject: [PATCH] Add reference to documentation

---
 src/Estimators/src/UkfModel.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/Estimators/src/UkfModel.cpp b/src/Estimators/src/UkfModel.cpp
index 73feb7ee92..49730ff34e 100644
--- a/src/Estimators/src/UkfModel.cpp
+++ b/src/Estimators/src/UkfModel.cpp
@@ -151,6 +151,8 @@ bool UkfModel::updateState()
                     m_kinDynWrapperList[subModelIdx]->getFrameVel(
                     value.frame));
 
+                // See reference: https://traversaro.github.io/traversaro-phd-thesis/traversaro-phd-thesis.pdf
+                // Paragraph 4.4.2
                 m_baseAcceleration.coeffs().head(3).noalias()
                     = baseHimu.rotation() * m_accMap[key]
                       - m_bOmegaIB.cross(m_bOmegaIB.cross(baseHimu.translation()));