Merge branch '14-follow-core-422' into 'devel'

Resolve "Follow core 422"

Closes #14

See merge request !14

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];

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()});

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();

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_);