additional setter for ekf

Author: markusgft

ct_optcon/include/ct/optcon/filter/ExtendedKalmanFilter.h

@@ -56,6 +56,12 @@ class ExtendedKalmanFilter final : public EstimatorBase<STATE_DIM, CONTROL_DIM,
     // return current covariance matrix
     const state_matrix_t& getCovarianceMatrix();
 
+    //! update Q matrix
+    void setQ(const state_matrix_t& Q) { Q_ = Q; }
+
+    //! update R matrix
+    void setR(const output_matrix_t& R) { R_ = R; }
+
 protected:
     //! Filter Q matrix.
     state_matrix_t Q_;