Rename getSensor(name) --> findSensor(name)

include/bodydynamics/processor/processor_force_torque_preint.h

@@ -126,8 +126,8 @@ namespace wolf{
 
 inline void ProcessorForceTorquePreint::configure(SensorBasePtr _sensor)
 {
-    sensor_ikin_   = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_ikin_name);
-    sensor_angvel_ = _sensor->getProblem()->getSensor(params_motion_force_torque_preint_->sensor_angvel_name);
+    sensor_ikin_   = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_ikin_name);
+    sensor_angvel_ = _sensor->getProblem()->findSensor(params_motion_force_torque_preint_->sensor_angvel_name);
 };
 
 inline Eigen::VectorXd ProcessorForceTorquePreint::deltaZero() const

src/processor/processor_inertial_kinematics.cpp

@@ -72,7 +72,7 @@ inline void ProcessorInertialKinematics::processCapture(CaptureBasePtr _capture)
     auto buffer_frame_it = buffer_frame_.getContainer().begin();
     auto buffer_capture_it = buffer_capture_.getContainer().begin();
 
-    auto sensor_angvel = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
+    auto sensor_angvel = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
     while ((buffer_frame_it != buffer_frame_.getContainer().end())
         && (buffer_capture_it != buffer_capture_.getContainer().end()))
     {
@@ -126,7 +126,7 @@ inline bool ProcessorInertialKinematics::createInertialKinematicsFactor(CaptureI
     Eigen::Matrix3d B_I_q = _cap_ikin->getBIq();
     Eigen::Vector3d B_Lc_m = _cap_ikin->getBLcm();
     auto sensor_ikin = std::static_pointer_cast<SensorInertialKinematics>(getSensor());
-    auto sensor_angvel_base = getProblem()->getSensor(params_ikin_->sensor_angvel_name);
+    auto sensor_angvel_base = getProblem()->findSensor(params_ikin_->sensor_angvel_name);
     Eigen::Matrix3d Qp = pow(sensor_ikin->getPbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qv = pow(sensor_ikin->getVbcNoiseStd(), 2) * Eigen::Matrix3d::Identity();
     Eigen::Matrix3d Qw = sensor_angvel_base->getNoiseCov().bottomRightCorner<3,3>();