params print

include/bodydynamics/processor/processor_force_torque_preint.h

@@ -24,9 +24,9 @@ struct ParamsProcessorForceTorquePreint : public ParamsProcessorMotion
             dimc               = _server.getParam<int>(_unique_name + "/dimc_");
         }
         ~ParamsProcessorForceTorquePreint() override = default;
-        std::string print() const
+        std::string print() const override
         {
-            return "\n" + ParamsProcessorMotion::print()                    + "\n"
+            return ParamsProcessorMotion::print()                    + "\n"
                     + "sensor_ikin_name: "           + sensor_ikin_name     + "\n"
                     + "sensor_angvel_name: "         + sensor_angvel_name   + "\n"
                     + "nbc_: "                       + std::to_string(nbc)                  + "\n"

include/bodydynamics/processor/processor_inertial_kinematics.h

@@ -23,9 +23,9 @@ struct ParamsProcessorInertialKinematics : public ParamsProcessorBase
         std_bp_drift =       _server.getParam<double>(_unique_name + "/std_bp_drift");
     }
     ~ParamsProcessorInertialKinematics() override = default;
-    std::string print() const
+    std::string print() const override
     {
-        return "\n" + ParamsProcessorBase::print() + "\n"
+        return ParamsProcessorBase::print() + "\n"
                     + "sensor_angvel_name: "       + sensor_angvel_name            + "\n"
                     + "std_bp_drift: "            + std::to_string(std_bp_drift) + "\n";
     }

include/bodydynamics/sensor/sensor_force_torque.h

@@ -27,9 +27,9 @@ struct ParamsSensorForceTorque : public ParamsSensorBase
             std_tau        = _server.getParam<double>(_unique_name + "/std_tau");
         }
         ~ParamsSensorForceTorque() override = default;
-        std::string print() const
+        std::string print() const override
         {
-            return "\n" + ParamsSensorBase::print()                        + "\n"
+            return ParamsSensorBase::print()                        + "\n"
                     + "mass: "          + std::to_string(mass)           + "\n"
                     + "std_f: "   + std::to_string(std_f)    + "\n"
                     + "std_tau: " + std::to_string(std_tau)  + "\n";

include/bodydynamics/sensor/sensor_inertial_kinematics.h

@@ -25,9 +25,9 @@ struct ParamsSensorInertialKinematics : public ParamsSensorBase
             std_vbc          = _server.getParam<double>(_unique_name + "/std_vbc");
         }
         ~ParamsSensorInertialKinematics() override = default;
-        std::string print() const
+        std::string print() const override
         {
-            return "\n" + ParamsSensorBase::print()                                           + "\n"
+            return ParamsSensorBase::print()                                           + "\n"
                     + "std_pbc: "           + std::to_string(std_pbc)           + "\n"
                     + "std_vbc: "           + std::to_string(std_vbc)           + "\n";
         }

test/gtest_processor_force_torque_preint.cpp

@@ -129,7 +129,6 @@ public:
         params_sen_ft->dist_traveled = 20000.0;
         params_sen_ft->angle_turned = 1000;
         params_sen_ft->voting_active = true;
-        params_sen_ft->voting_aux_active = false;
         ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorquePreint", "PFTPreint", sen_ft_, params_sen_ft);
         // ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorquePreint", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
         proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorquePreint>(proc_ft_base);