Remove "preint" from params variable names

include/bodydynamics/processor/processor_force_torque.h

@@ -61,7 +61,7 @@ WOLF_PTR_TYPEDEFS(ProcessorForceTorque);
 //class
 class ProcessorForceTorque : public ProcessorMotion{
     public:
-        ProcessorForceTorque(ParamsProcessorForceTorquePtr _params_motion_force_torque_preint);
+        ProcessorForceTorque(ParamsProcessorForceTorquePtr _params_motion_force_torque);
         ~ProcessorForceTorque() override;
         void configure(SensorBasePtr _sensor) override;
 
@@ -109,7 +109,7 @@ class ProcessorForceTorque : public ProcessorMotion{
                                             CaptureBasePtr _capture_origin) override;
 
     private:
-        ParamsProcessorForceTorquePtr params_motion_force_torque_preint_;
+        ParamsProcessorForceTorquePtr params_motion_force_torque_;
         SensorBasePtr sensor_ikin_;
         SensorBasePtr sensor_angvel_;
         int nbc_;
@@ -126,8 +126,8 @@ namespace wolf{
 
 inline void ProcessorForceTorque::configure(SensorBasePtr _sensor)
 {
-    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);
+    sensor_ikin_   = _sensor->getProblem()->findSensor(params_motion_force_torque_->sensor_ikin_name);
+    sensor_angvel_ = _sensor->getProblem()->findSensor(params_motion_force_torque_->sensor_angvel_name);
 };
 
 inline Eigen::VectorXd ProcessorForceTorque::deltaZero() const

include/bodydynamics/processor/processor_force_torque_inertial.h

@@ -62,14 +62,14 @@ class ProcessorForceTorqueInertial : public ProcessorMotion
 {
   public:
     ProcessorForceTorqueInertial(
-        ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial_preint);
+        ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial);
     ~ProcessorForceTorqueInertial() override;
     void configure(SensorBasePtr _sensor) override;
     WOLF_PROCESSOR_CREATE(ProcessorForceTorqueInertial, ParamsProcessorForceTorqueInertial);
 
   protected:
-    ParamsProcessorForceTorqueInertialPtr params_force_torque_inertial_preint_;
-    SensorForceTorqueInertialPtr                sensor_fti_;
+    ParamsProcessorForceTorqueInertialPtr params_force_torque_inertial_;
+    SensorForceTorqueInertialPtr          sensor_fti_;
 
   public:
     /** \brief convert raw CaptureMotion data to the delta-state format.

src/processor/processor_force_torque.cpp

@@ -37,13 +37,13 @@ int compute_data_size(int nbc, int dimc){
 
 using namespace Eigen;
 
-ProcessorForceTorque::ProcessorForceTorque(ParamsProcessorForceTorquePtr _params_motion_force_torque_preint) :
+ProcessorForceTorque::ProcessorForceTorque(ParamsProcessorForceTorquePtr _params_motion_force_torque) :
         ProcessorMotion("ProcessorForceTorque", "CDLO", 3, 13, 13, 12, 
-                        compute_data_size(_params_motion_force_torque_preint->nbc, _params_motion_force_torque_preint->dimc), 
-                        6, _params_motion_force_torque_preint),
-        params_motion_force_torque_preint_(std::make_shared<ParamsProcessorForceTorque>(*_params_motion_force_torque_preint)),
-        nbc_(_params_motion_force_torque_preint->nbc),
-        dimc_(_params_motion_force_torque_preint->dimc)
+                        compute_data_size(_params_motion_force_torque->nbc, _params_motion_force_torque->dimc), 
+                        6, _params_motion_force_torque),
+        params_motion_force_torque_(std::make_shared<ParamsProcessorForceTorque>(*_params_motion_force_torque)),
+        nbc_(_params_motion_force_torque->nbc),
+        dimc_(_params_motion_force_torque->dimc)
 
 {
     //
@@ -57,13 +57,13 @@ ProcessorForceTorque::~ProcessorForceTorque()
 bool ProcessorForceTorque::voteForKeyFrame() const
 {
     // time span
-    if (getBuffer().back().ts_ - getBuffer().front().ts_ > params_motion_force_torque_preint_->max_time_span)
+    if (getBuffer().back().ts_ - getBuffer().front().ts_ > params_motion_force_torque_->max_time_span)
     {
         WOLF_DEBUG( "PM: vote: time span" );
         return true;
     }
     // buffer length
-    if (getBuffer().size() > params_motion_force_torque_preint_->max_buff_length)
+    if (getBuffer().size() > params_motion_force_torque_->max_buff_length)
     {
         WOLF_DEBUG( "PM: vote: buffer length" );
         return true;

src/processor/processor_force_torque_inertial.cpp

@@ -39,7 +39,7 @@ namespace wolf
 {
 
 ProcessorForceTorqueInertial::ProcessorForceTorqueInertial(
-    ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial_preint)
+    ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial)
     : ProcessorMotion("ProcessorForceTorqueInertial",
                       "POVL",
                       3,   // dim
@@ -48,8 +48,8 @@ ProcessorForceTorqueInertial::ProcessorForceTorqueInertial(
                       18,  // delta cov size
                       12,  // data size [a, w, f, t]
                       6,   // calib size [ab, wb]
-                      _params_force_torque_inertial_preint),
-      params_force_torque_inertial_preint_(_params_force_torque_inertial_preint)
+                      _params_force_torque_inertial),
+      params_force_torque_inertial_(_params_force_torque_inertial)
 {
     // TODO Auto-generated constructor stub
 }