/// <summary> /// Function to unite the bookeeping stuff for both /// add_new_partially_initialised_feature() and add_new_known_feature() /// </summary> /// <param name="nf"></param> public void add_new_feature_bookeeping(Feature nf) { feature_list.Add(nf); next_free_label++; // Potential millenium-style bug when this overloads // (hello if you're reading this in the year 3000) nf.set_position_in_total_state_vector(total_state_size); total_state_size += nf.get_feature_measurement_model().FEATURE_STATE_SIZE; }