From 5e57830c206f65139c9663910893f0d825f65e56 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 6 Aug 2022 10:52:44 +0200
Subject: [PATCH] Move one fcn up the class close to its related fcns
---
.../processor_force_torque_inertial_preint_dynamics.h | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial_preint_dynamics.h b/include/bodydynamics/processor/processor_force_torque_inertial_preint_dynamics.h
index a5e92bb..db76c49 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial_preint_dynamics.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial_preint_dynamics.h
@@ -206,6 +206,9 @@ class ProcessorForceTorqueInertialPreintDynamics : public ProcessorMotion
Eigen::VectorXd correctDelta(const Eigen::VectorXd& _delta_preint,
const Eigen::VectorXd& _delta_step) const override;
+ public:
+ virtual VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
+
protected:
/** \brief emplace a CaptureMotion
* \param _frame_own frame owning the Capture to create
@@ -241,8 +244,6 @@ class ProcessorForceTorqueInertialPreintDynamics : public ProcessorMotion
bool voteForKeyFrame() const override;
- public:
- virtual VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
private:
void data2tangent(const Eigen::VectorXd& _data, ///< [a, w, f, t] raw measures
const Eigen::VectorXd& _bias, ///< [ab, wb]
--
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