public void successful_measurement_of_feature(Feature sfp)
{
sfp.set_successful_measurement_flag(true);
successful_measurement_vector_size +=
sfp.get_fully_initialised_feature_measurement_model().MEASUREMENT_SIZE;
sfp.get_fully_initialised_feature_measurement_model().func_nui(sfp.get_h(), sfp.get_z());
sfp.set_nu(sfp.get_fully_initialised_feature_measurement_model().get_nuiRES());
sfp.increment_successful_measurements_of_feature(1);
sfp.increment_attempted_measurements_of_feature(1);
}