diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 4c5d6f0d07cacd04b3d598c1503b7e96ed013d37..181fc3d44d83f1d89755f34abb5a24f4a806e4f3 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -298,7 +298,7 @@ int main (int argc, char **argv) {
params_sen_ft->voting_active = false;
ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", sen_ft, params_sen_ft);
// ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint.yaml");
- ProcessorForceTorquePtr proc_ftpreint = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
+ ProcessorForceTorquePtr proc_ft = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
// SENSOR + PROCESSOR POINT FEET NOMOVE
ParamsSensorPointFeetNomovePtr intr_pfn = std::make_shared<ParamsSensorPointFeetNomove>();
@@ -355,7 +355,7 @@ int main (int argc, char **argv) {
VectorXd meas_ikin(9); meas_ikin << i_p_ic, i_v_ic, i_omg_oi;
auto CIKin0 = std::make_shared<CaptureInertialKinematics>(t0, sen_ikin, meas_ikin, i_Iw, i_Lc_gesti);
CIKin0->process();
- proc_ftpreint->setOrigin(KF1);
+ proc_ft->setOrigin(KF1);
////////////////////////////////////////////
// INITIAL BIAS FACTORS
diff --git a/include/bodydynamics/feature/feature_force_torque.h b/include/bodydynamics/feature/feature_force_torque.h
index cf2018cbd68e06f8043f9f86fbeb6ac01ad2545a..c9fdd98d49b1619db1bf1d424cddfb59ae84a3b9 100644
--- a/include/bodydynamics/feature/feature_force_torque.h
+++ b/include/bodydynamics/feature/feature_force_torque.h
@@ -44,7 +44,7 @@ class FeatureForceTorque : public FeatureBase
* \param _J_delta_bias Jacobians of preintegrated delta wrt [pbc,gyro] biases
* \param _pbc_bias COM position relative to bias bias of origin frame time
* \param _gyro_bias gyroscope bias of origin frame time
- * \param _cap_ftpreint_ptr pointer to parent CaptureMotion (CaptureForceTorque)
+ * \param _cap_ft_ptr pointer to parent CaptureMotion (CaptureForceTorque)
*/
FeatureForceTorque(const Eigen::VectorXd& _delta_preintegrated,
const Eigen::MatrixXd& _delta_preintegrated_covariance,
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial.h b/include/bodydynamics/processor/processor_force_torque_inertial.h
index d95dd4effaf5a28fef04785652be054cd9a9e4a1..616411f510f74ff6fa12d26d5270ce0252bb5dee 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial.h
@@ -20,7 +20,7 @@
//
//--------LICENSE_END--------
/*
- * processor_preintegrator_force_torque_inertial.h
+ * processor_force_torque_inertial.h
*
* Created on: Aug 19, 2021
* Author: jsola
diff --git a/src/processor/processor_force_torque.cpp b/src/processor/processor_force_torque.cpp
index 4f7b6a0ec1a40b68cb809b4fa08c049cd585b0fe..8afdfe3d49708fe6c9b1c40c2065829527be3af5 100644
--- a/src/processor/processor_force_torque.cpp
+++ b/src/processor/processor_force_torque.cpp
@@ -111,10 +111,10 @@ CaptureMotionPtr ProcessorForceTorque::emplaceCapture(const FrameBasePtr& _frame
// Cannot be recovered from the _calib and _calib_preint which are initialized using calib_size_
// which is zero in our case since the calibration stateblocks are not actually in the FTPreint sensor/captures
- auto cap_ftpreint = std::static_pointer_cast<CaptureForceTorque>(cap);
- Vector6d calib = getCalibration(cap_ftpreint);
- setCalibration(cap_ftpreint, calib);
- cap_ftpreint->setCalibrationPreint(calib);
+ auto cap_ft = std::static_pointer_cast<CaptureForceTorque>(cap);
+ Vector6d calib = getCalibration(cap_ft);
+ setCalibration(cap_ft, calib);
+ cap_ft->setCalibrationPreint(calib);
return cap;
}
@@ -178,20 +178,20 @@ void ProcessorForceTorque::setCalibration (const CaptureBasePtr _capture, const
FactorBasePtr ProcessorForceTorque::emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin)
{
- CaptureForceTorquePtr cap_ftpreint_origin = std::static_pointer_cast<CaptureForceTorque>(_capture_origin);
- FeatureForceTorquePtr ftr_ftpreint = std::static_pointer_cast<FeatureForceTorque>(_feature_motion);
- CaptureForceTorquePtr cap_ftpreint_new = std::static_pointer_cast<CaptureForceTorque>(ftr_ftpreint->getCapture());
-
- auto fac_ftpreint = FactorBase::emplace<FactorForceTorque>(
- ftr_ftpreint,
- ftr_ftpreint,
- cap_ftpreint_origin,
+ CaptureForceTorquePtr cap_ft_origin = std::static_pointer_cast<CaptureForceTorque>(_capture_origin);
+ FeatureForceTorquePtr ftr_ft = std::static_pointer_cast<FeatureForceTorque>(_feature_motion);
+ CaptureForceTorquePtr cap_ft_new = std::static_pointer_cast<CaptureForceTorque>(ftr_ft->getCapture());
+
+ auto fac_ft = FactorBase::emplace<FactorForceTorque>(
+ ftr_ft,
+ ftr_ft,
+ cap_ft_origin,
shared_from_this(),
- cap_ftpreint_origin->getIkinCaptureOther(), // to retrieve sb_bp1
- cap_ftpreint_origin->getGyroCaptureOther(), // to retrieve sb_w1
+ cap_ft_origin->getIkinCaptureOther(), // to retrieve sb_bp1
+ cap_ft_origin->getGyroCaptureOther(), // to retrieve sb_w1
false);
- return fac_ftpreint;
+ return fac_ft;
}
void ProcessorForceTorque::computeCurrentDelta(
diff --git a/src/processor/processor_force_torque_inertial.cpp b/src/processor/processor_force_torque_inertial.cpp
index 715b3a1a91cd1fba6dbb54103f1f505b694b5959..0e2720f8f118b80c7592bc73780c4c8f07696c62 100644
--- a/src/processor/processor_force_torque_inertial.cpp
+++ b/src/processor/processor_force_torque_inertial.cpp
@@ -20,7 +20,7 @@
//
//--------LICENSE_END--------
/*
- * processor_preintegrator_force_torque_inertial.cpp
+ * processor_force_torque_inertial.cpp
*
* Created on: Aug 19, 2021
* Author: jsola
diff --git a/src/processor/processor_force_torque_inertial_dynamics.cpp b/src/processor/processor_force_torque_inertial_dynamics.cpp
index d057966275793cfc7ed350e4dbb097c21727e2a5..31380dcb7f0a2585b814d10f1b20a8f842506dc4 100644
--- a/src/processor/processor_force_torque_inertial_dynamics.cpp
+++ b/src/processor/processor_force_torque_inertial_dynamics.cpp
@@ -20,7 +20,7 @@
//
//--------LICENSE_END--------
/*
- * processor_preintegrator_force_torque_inertial_dynamics.cpp
+ * processor_force_torque_inertial_dynamics.cpp
*
* Created on: Aug 1, 2022
* Author: asanjuan
diff --git a/test/gtest_processor_force_torque.cpp b/test/gtest_processor_force_torque.cpp
index 6747c4ab66e1cf038ffb68d451da84ec8ba78c9c..b00181b9bd356dbabce6e2d45c0d36a8626ac497 100644
--- a/test/gtest_processor_force_torque.cpp
+++ b/test/gtest_processor_force_torque.cpp
@@ -92,7 +92,7 @@ public:
SensorForceTorquePtr sen_ft_;
ProcessorImuPtr proc_imu_;
ProcessorInertialKinematicsPtr proc_inkin_;
- ProcessorForceTorquePtr proc_ftpreint_;
+ ProcessorForceTorquePtr proc_ft_;
FrameBasePtr KF1_;
void SetUp() override
@@ -152,7 +152,7 @@ public:
params_sen_ft->voting_active = true;
ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", sen_ft_, params_sen_ft);
// ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
- proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
+ proc_ft_ = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
}
void TearDown() override {}
@@ -246,7 +246,7 @@ public:
proc_imu_->setOrigin(KF1_);
auto CIKin0 = std::make_shared<CaptureInertialKinematics>(t0_, sen_ikin_, meas_ikin_, Iq_, Lq_);
CIKin0->process();
- proc_ftpreint_->setOrigin(KF1_);
+ proc_ft_->setOrigin(KF1_);
// T1
CaptureImuPtr CImu1 = std::make_shared<CaptureImu>(t1, sen_imu_, acc_gyr_meas_, acc_gyr_cov_);
diff --git a/test/gtest_processor_force_torque_inertial.cpp b/test/gtest_processor_force_torque_inertial.cpp
index bc17e37e2d8b5652c948be2dc6e5887fc244ce8f..b8be3e23b05e5c64f1a63ad0e36c9c3559f81e2c 100644
--- a/test/gtest_processor_force_torque_inertial.cpp
+++ b/test/gtest_processor_force_torque_inertial.cpp
@@ -20,7 +20,7 @@
//
//--------LICENSE_END--------
/*
- * gtest_processor_preintegrator_force_torque_inertial.cpp
+ * gtest_processor_force_torque_inertial.cpp
*
* Created on: Aug 19, 2021
* Author: jsola