From a24ac20ee33b9316ebc378b8850bb6869ac870b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 30 Nov 2021 22:27:37 +0100
Subject: [PATCH] follow core 422
---
demos/mcapi_povcdl_estimation.cpp | 2 +-
demos/solo_real_pov_estimation.cpp | 2 +-
demos/solo_real_povcdl_estimation.cpp | 2 +-
test/gtest_processor_force_torque_preint.cpp | 2 +-
4 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/demos/mcapi_povcdl_estimation.cpp b/demos/mcapi_povcdl_estimation.cpp
index 22b01ec..d48c67e 100644
--- a/demos/mcapi_povcdl_estimation.cpp
+++ b/demos/mcapi_povcdl_estimation.cpp
@@ -512,7 +512,7 @@ int main (int argc, char **argv) {
// SETPRIOR RETRO-ENGINEERING
// We are not using setPrior because of processors initial captures problems so we have to
// - Manually create the first KF and its pose and velocity priors
- // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+ // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
TimeStamp t0(t_arr[0]);
VectorXd x_origin; x_origin.resize(19);
x_origin << p_ob_gtr_v[0], q_ob_gtr_v[0], v_ob_gtr_v[0], c_traj_arr[0], dc_traj_arr[0], L_traj_arr[0];
diff --git a/demos/solo_real_pov_estimation.cpp b/demos/solo_real_pov_estimation.cpp
index 7e58880..51ade73 100644
--- a/demos/solo_real_pov_estimation.cpp
+++ b/demos/solo_real_pov_estimation.cpp
@@ -298,7 +298,7 @@ int main (int argc, char **argv) {
// SETPRIOR RETRO-ENGINEERING
// We are not using setPrior because of processors initial captures problems so we have to
// - Manually create the first KF and its pose and velocity priors
- // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+ // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
VectorComposite x_origin("POV", {w_p_wm, w_qvec_wm, Vector3d::Zero()});
VectorComposite std_origin("POV", {std_prior_p*Vector3d::Ones(), std_prior_o*Vector3d::Ones(), std_prior_v*Vector3d::Ones()});
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index de47de0..ffdcd3f 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -314,7 +314,7 @@ int main (int argc, char **argv) {
// SETPRIOR RETRO-ENGINEERING
// We are not using setPrior because of processors initial captures problems so we have to
// - Manually create the first KF and its pose and velocity priors
- // - call setOrigin on processors isMotion since the flag prior_is_set is not true when doing installProcessor (later)
+ // - call setOrigin on processors MotionProvider since the flag prior_is_set is not true when doing installProcessor (later)
MatrixXd P_origin(9,9); P_origin.setIdentity();
P_origin.block<3,3>(0,0) = pow(std_prior_p, 2) * Matrix3d::Identity();
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index f5e52eb..87b212e 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -222,7 +222,7 @@ public:
// SETPRIOR RETRO-ENGINEERING
// We are not using setPrior because of processors initial captures problems so we have to
// - Manually set problem prior
- // - call setOrigin on processors isMotion
+ // - call setOrigin on processors MotionProvider
setOriginState();
MatrixXd P_origin_ = pow(1e-3, 2) * MatrixXd::Identity(18,18);
KF1_ = problem_->emplaceFrame( t0_, x_origin_);
--
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