Merge branch '23-adapt-to-new-sensor-constructors-in-core' of...

Merge branch '23-adapt-to-new-sensor-constructors-in-core' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss into 23-adapt-to-new-sensor-constructors-in-core

include/gnss/capture/capture_gnss.h

@@ -20,77 +20,76 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "gnss/feature/feature_gnss_fix.h"
 #include "core/capture/capture_base.h"
 
-//std includes
+// std includes
 #include "gnss_utils/snapshot.h"
 
-namespace wolf {
-
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(CaptureGnss);
 
-//class CaptureGnss
+// class CaptureGnss
 class CaptureGnss : public CaptureBase
 {
-    protected:
-        GnssUtils::SnapshotPtr snapshot_; ///< observation and navigation data
-
-    public:
-      CaptureGnss(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, GnssUtils::SnapshotPtr _snapshot);
-      ~CaptureGnss() override;
-
-      GnssUtils::SnapshotConstPtr getSnapshot() const;
-      GnssUtils::SnapshotPtr getSnapshot();
-      GnssUtils::ObservationsConstPtr getObservations() const;
-      GnssUtils::ObservationsPtr getObservations();
-      GnssUtils::NavigationConstPtr getNavigation() const;
-      GnssUtils::NavigationPtr getNavigation();
-      const GnssUtils::Satellites& getSatellites() const;
-      GnssUtils::Satellites& getSatellites();
-
+  protected:
+    GnssUtils::SnapshotPtr snapshot_;  ///< observation and navigation data
+
+  public:
+    CaptureGnss(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, GnssUtils::SnapshotPtr _snapshot);
+    ~CaptureGnss() override;
+
+    GnssUtils::SnapshotConstPtr     getSnapshot() const;
+    GnssUtils::SnapshotPtr          getSnapshot();
+    GnssUtils::ObservationsConstPtr getObservations() const;
+    GnssUtils::ObservationsPtr      getObservations();
+    GnssUtils::NavigationConstPtr   getNavigation() const;
+    GnssUtils::NavigationPtr        getNavigation();
+    const GnssUtils::Satellites&    getSatellites() const;
+    GnssUtils::Satellites&          getSatellites();
 };
 
 inline GnssUtils::SnapshotConstPtr CaptureGnss::getSnapshot() const
 {
-  return snapshot_;
+    return snapshot_;
 }
 
 inline GnssUtils::SnapshotPtr CaptureGnss::getSnapshot()
 {
-  return snapshot_;
+    return snapshot_;
 }
 
 inline GnssUtils::ObservationsConstPtr CaptureGnss::getObservations() const
 {
-  return snapshot_->getObservations();
+    return snapshot_->getObservations();
 }
 
 inline GnssUtils::ObservationsPtr CaptureGnss::getObservations()
 {
-  return snapshot_->getObservations();
+    return snapshot_->getObservations();
 }
 
 inline GnssUtils::NavigationConstPtr CaptureGnss::getNavigation() const
 {
-  return snapshot_->getNavigation();
+    return snapshot_->getNavigation();
 }
 
 inline GnssUtils::NavigationPtr CaptureGnss::getNavigation()
 {
-  return snapshot_->getNavigation();
+    return snapshot_->getNavigation();
 }
 
 inline GnssUtils::Satellites& CaptureGnss::getSatellites()
 {
-  return snapshot_->getSatellites();
+    return snapshot_->getSatellites();
 }
 
 inline const GnssUtils::Satellites& CaptureGnss::getSatellites() const
 {
-  return snapshot_->getSatellites();
+    return snapshot_->getSatellites();
 }
 
-} //namespace wolf
+}  // namespace wolf

include/gnss/capture/capture_gnss_fix.h

@@ -20,48 +20,48 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "gnss/feature/feature_gnss_fix.h"
 #include "core/capture/capture_base.h"
 
-//std includes
+// std includes
 //
 
-namespace wolf {
-    
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(CaptureGnssFix);
 
-//class CaptureGnssFix
+// class CaptureGnssFix
 class CaptureGnssFix : public CaptureBase
 {
-    protected:
-        Eigen::Vector4d fix_ECEF_; ///< position in ECEF coordinates and clock_bias.
-        Eigen::Matrix4d covariance_ECEF_; ///< Noise of the fix in ECEF coordinates.
-        TimeStamp ts_GPST_; ///< Time stamp in GPS time
-
-    public:
-        CaptureGnssFix(const TimeStamp&, 
-                       SensorBasePtr, 
-                       const Eigen::Vector4d&,
-                       const Eigen::Matrix4d&,
-                       bool _ecef_coordinates = true);
-        ~CaptureGnssFix() override;
-
-        Eigen::Vector4d getFixEcef() const;
-        Eigen::Matrix4d getFixCovarianceEcef() const;
-        double getClockBias() const;
-        double getClockBiasVariance() const;
-        Eigen::Vector3d getPositionEcef() const;
-        Eigen::Matrix3d getPositionCovarianceEcef() const;
-        void getPositionAndCovarianceEcef(Eigen::Vector3d&, Eigen::Matrix3d&) const;
-        TimeStamp getGpsTimeStamp() const;
-
-        void setFixEcef(const Eigen::Vector4d&);
-        void setFixCovarianceEcef(const Eigen::Matrix4d&);
-        void setClockBias(const double&);
-        void setPositionEcef(const Eigen::Vector3d&);
-        void setGpsTimeStamp(const TimeStamp&);
+  protected:
+    Eigen::Vector4d fix_ECEF_;         ///< position in ECEF coordinates and clock_bias.
+    Eigen::Matrix4d covariance_ECEF_;  ///< Noise of the fix in ECEF coordinates.
+    TimeStamp       ts_GPST_;          ///< Time stamp in GPS time
+
+  public:
+    CaptureGnssFix(const TimeStamp&,
+                   SensorBasePtr,
+                   const Eigen::Vector4d&,
+                   const Eigen::Matrix4d&,
+                   bool _ecef_coordinates = true);
+    ~CaptureGnssFix() override;
+
+    Eigen::Vector4d getFixEcef() const;
+    Eigen::Matrix4d getFixCovarianceEcef() const;
+    double          getClockBias() const;
+    double          getClockBiasVariance() const;
+    Eigen::Vector3d getPositionEcef() const;
+    Eigen::Matrix3d getPositionCovarianceEcef() const;
+    void            getPositionAndCovarianceEcef(Eigen::Vector3d&, Eigen::Matrix3d&) const;
+    TimeStamp       getGpsTimeStamp() const;
+
+    void setFixEcef(const Eigen::Vector4d&);
+    void setFixCovarianceEcef(const Eigen::Matrix4d&);
+    void setClockBias(const double&);
+    void setPositionEcef(const Eigen::Vector3d&);
+    void setGpsTimeStamp(const TimeStamp&);
 };
 
 inline Eigen::Vector4d CaptureGnssFix::getFixEcef() const
@@ -81,7 +81,7 @@ inline double CaptureGnssFix::getClockBias() const
 
 inline double CaptureGnssFix::getClockBiasVariance() const
 {
-    return covariance_ECEF_(3,3);
+    return covariance_ECEF_(3, 3);
 }
 
 inline Eigen::Vector3d CaptureGnssFix::getPositionEcef() const
@@ -91,13 +91,13 @@ inline Eigen::Vector3d CaptureGnssFix::getPositionEcef() const
 
 inline Eigen::Matrix3d CaptureGnssFix::getPositionCovarianceEcef() const
 {
-    return covariance_ECEF_.topLeftCorner<3,3>();
+    return covariance_ECEF_.topLeftCorner<3, 3>();
 }
 
 inline void CaptureGnssFix::getPositionAndCovarianceEcef(Eigen::Vector3d& position, Eigen::Matrix3d& cov) const
 {
     position = fix_ECEF_.head<3>();
-    cov = covariance_ECEF_.topLeftCorner<3,3>();
+    cov      = covariance_ECEF_.topLeftCorner<3, 3>();
 }
 
 inline wolf::TimeStamp CaptureGnssFix::getGpsTimeStamp() const
@@ -124,10 +124,10 @@ inline void CaptureGnssFix::setPositionEcef(const Eigen::Vector3d& _fix_position
 {
     fix_ECEF_.head<3>() = _fix_position;
 }
-        
+
 inline void CaptureGnssFix::setGpsTimeStamp(const TimeStamp& _ts_GPST)
 {
     ts_GPST_ = _ts_GPST;
 }
 
-} //namespace wolf
+}  // namespace wolf

include/gnss/capture/capture_gnss_tdcp.h

@@ -20,45 +20,44 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "core/capture/capture_base.h"
 #include "gnss/feature/feature_gnss_displacement.h"
 
-//std includes
+// std includes
 //
 
-namespace wolf {
-    
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(CaptureGnssTdcp);
 
 class CaptureGnssTdcp : public CaptureBase
 {
-    protected:
-        Eigen::Vector3d data_; ///< Displacement in ECEF coordinates.
-        Eigen::Matrix3d data_covariance_; ///< Noise of the capture.
-        FrameBasePtr    origin_frame_ptr_;
-        TimeStamp ts_GPST_; ///< Time stamp in GPS time
+  protected:
+    Eigen::Vector3d data_;             ///< Displacement in ECEF coordinates.
+    Eigen::Matrix3d data_covariance_;  ///< Noise of the capture.
+    FrameBasePtr    origin_frame_ptr_;
+    TimeStamp       ts_GPST_;  ///< Time stamp in GPS time
 
-    public:
-        CaptureGnssTdcp(const TimeStamp& _ts,
-                              SensorBasePtr _sensor_ptr,
-                              const Eigen::Vector3d& _data,
-                              const Eigen::Matrix3d& _data_covariance,
-                              const FrameBasePtr& _origin_frame_ptr) :
-            CaptureBase("CaptureGnssTdcp", _ts, _sensor_ptr),
-            data_(_data),
-            data_covariance_(_data_covariance),
-            origin_frame_ptr_(_origin_frame_ptr)
-        {};
-        ~CaptureGnssTdcp() override{};
-        const Eigen::Vector3d& getData() const;
-        const Eigen::Matrix3d& getDataCovariance() const;
-        void getDataAndCovariance(Eigen::Vector3d& data, Eigen::Matrix3d& data_cov) const;
-        FrameBaseConstPtr getOriginFrame() const;
-        FrameBasePtr getOriginFrame();
-        const TimeStamp& getGpsTimeStamp() const;
-        void setGpsTimeStamp(const TimeStamp &_ts_GPST);
+  public:
+    CaptureGnssTdcp(const TimeStamp&       _ts,
+                    SensorBasePtr          _sensor_ptr,
+                    const Eigen::Vector3d& _data,
+                    const Eigen::Matrix3d& _data_covariance,
+                    const FrameBasePtr&    _origin_frame_ptr)
+        : CaptureBase("CaptureGnssTdcp", _ts, _sensor_ptr),
+          data_(_data),
+          data_covariance_(_data_covariance),
+          origin_frame_ptr_(_origin_frame_ptr){};
+    ~CaptureGnssTdcp() override{};
+    const Eigen::Vector3d& getData() const;
+    const Eigen::Matrix3d& getDataCovariance() const;
+    void                   getDataAndCovariance(Eigen::Vector3d& data, Eigen::Matrix3d& data_cov) const;
+    FrameBaseConstPtr      getOriginFrame() const;
+    FrameBasePtr           getOriginFrame();
+    const TimeStamp&       getGpsTimeStamp() const;
+    void                   setGpsTimeStamp(const TimeStamp& _ts_GPST);
 };
 
 inline const Eigen::Vector3d& CaptureGnssTdcp::getData() const
@@ -73,7 +72,7 @@ inline const Eigen::Matrix3d& CaptureGnssTdcp::getDataCovariance() const
 
 inline void CaptureGnssTdcp::getDataAndCovariance(Eigen::Vector3d& data, Eigen::Matrix3d& data_cov) const
 {
-    data = data_;
+    data     = data_;
     data_cov = data_covariance_;
 }
 
@@ -92,9 +91,9 @@ inline const TimeStamp& CaptureGnssTdcp::getGpsTimeStamp() const
     return ts_GPST_;
 }
 
-inline void CaptureGnssTdcp::setGpsTimeStamp(const TimeStamp &_ts_GPST)
+inline void CaptureGnssTdcp::setGpsTimeStamp(const TimeStamp& _ts_GPST)
 {
     ts_GPST_ = _ts_GPST;
 }
 
-} //namespace wolf
+}  // namespace wolf

include/gnss/common/gnss.h

@@ -27,8 +27,7 @@
 
 namespace wolf
 {
-
 // Folder schema Registry
 WOLF_REGISTER_FOLDER("gnss", _WOLF_GNSS_SCHEMA_DIR);
 
-}
+}  // namespace wolf

include/gnss/factor/factor_gnss_displacement_2d.h

@@ -28,7 +28,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssDisplacement2d);
 
 class FactorGnssDisplacement2d : public FactorAutodiff<FactorGnssDisplacement2d, 3, 2, 1, 2, 1, 3, 1, 1, 1>

include/gnss/factor/factor_gnss_displacement_3d.h

@@ -28,7 +28,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssDisplacement3d);
 
 class FactorGnssDisplacement3d : public FactorAutodiff<FactorGnssDisplacement3d, 3, 3, 4, 3, 4, 3, 1, 1, 1>
@@ -38,11 +37,11 @@ class FactorGnssDisplacement3d : public FactorAutodiff<FactorGnssDisplacement3d,
 
   public:
     FactorGnssDisplacement3d(const FeatureBasePtr&   _ftr_ptr,
-                     const FrameBasePtr&     _frame_other_ptr,
-                     const SensorGnssPtr&    _sensor_gnss_ptr,
-                     const ProcessorBasePtr& _processor_ptr,
-                     bool                    _apply_loss_function,
-                     FactorStatus            _status = FAC_ACTIVE)
+                             const FrameBasePtr&     _frame_other_ptr,
+                             const SensorGnssPtr&    _sensor_gnss_ptr,
+                             const ProcessorBasePtr& _processor_ptr,
+                             bool                    _apply_loss_function,
+                             FactorStatus            _status = FAC_ACTIVE)
         : FactorAutodiff<FactorGnssDisplacement3d, 3, 3, 4, 3, 4, 3, 1, 1, 1>(
               "FactorGnssDisplacement3d",
               TOP_GEOM,
@@ -85,14 +84,14 @@ class FactorGnssDisplacement3d : public FactorAutodiff<FactorGnssDisplacement3d,
 
 template <typename T>
 inline bool FactorGnssDisplacement3d::operator()(const T* const _x1,
-                                         const T* const _o1,
-                                         const T* const _x2,
-                                         const T* const _o2,
-                                         const T* const _x_antena,
-                                         const T* const _roll_ENU_MAP,
-                                         const T* const _pitch_ENU_MAP,
-                                         const T* const _yaw_ENU_MAP,
-                                         T*             _residuals) const
+                                                 const T* const _o1,
+                                                 const T* const _x2,
+                                                 const T* const _o2,
+                                                 const T* const _x_antena,
+                                                 const T* const _roll_ENU_MAP,
+                                                 const T* const _pitch_ENU_MAP,
+                                                 const T* const _yaw_ENU_MAP,
+                                                 T*             _residuals) const
 {
     Eigen::Map<const Eigen::Matrix<T, 3, 1>> t_MAP_BASE1(_x1);
     Eigen::Map<const Eigen::Quaternion<T>>   q_MAP_BASE1(_o1);

include/gnss/factor/factor_gnss_displacement_3d_with_clock.h

@@ -27,7 +27,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssDisplacement3dWithClock);
 
 class FactorGnssDisplacement3dWithClock

include/gnss/factor/factor_gnss_fix_2d.h

@@ -28,7 +28,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssFix2d);
 
 class FactorGnssFix2d : public FactorAutodiff<FactorGnssFix2d, 3, 2, 1, 3, 3, 1, 1, 1>

include/gnss/factor/factor_gnss_fix_3d.h

@@ -28,7 +28,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssFix3d);
 
 class FactorGnssFix3d : public FactorAutodiff<FactorGnssFix3d, 3, 3, 4, 3, 3, 1, 1, 1>

include/gnss/factor/factor_gnss_fix_3d_with_clock.h

@@ -28,7 +28,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssFix3dWithClock);
 
 class FactorGnssFix3dWithClock : public FactorAutodiff<FactorGnssFix3dWithClock, 4, 3, 4, 3, 3, 1, 1, 1, 1>

include/gnss/factor/factor_gnss_pseudo_range.h

@@ -30,7 +30,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssPseudoRange);
 
 class FactorGnssPseudoRange : public FactorAutodiff<FactorGnssPseudoRange, 1, 3, 4, 1, 1, 3, 3, 1, 1, 1>

include/gnss/factor/factor_gnss_tdcp.h

@@ -30,7 +30,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(FactorGnssTdcp);
 
 class FactorGnssTdcp : public FactorAutodiff<FactorGnssTdcp, 1, 3, 4, 1, 3, 4, 1, 3, 3, 1, 1, 1>

include/gnss/feature/feature_gnss_displacement.h

@@ -20,34 +20,31 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "core/feature/feature_base.h"
 
-//std includes
-
-namespace wolf {
+// std includes
 
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(FeatureGnssSinleDiff);
-    
+
 class FeatureGnssDisplacement : public FeatureBase
 {
-    public:
-
-        /** \brief Constructor from capture pointer and measure
-         *
-         * \param _measurement the measurement
-         * \param _meas_covariance the noise of the measurement
-         *
-         */
-        FeatureGnssDisplacement(const Eigen::Vector4d& _measurement, const Eigen::Matrix4d& _meas_covariance) :
-            FeatureBase("FeatureGnssDisplacement", _measurement, _meas_covariance)
-        {};
-        FeatureGnssDisplacement(const Eigen::Vector3d& _measurement, const Eigen::Matrix3d& _meas_covariance) :
-            FeatureBase("FeatureGnssDisplacement", _measurement, _meas_covariance)
-        {};
-
-        ~FeatureGnssDisplacement() override{};
+  public:
+    /** \brief Constructor from capture pointer and measure
+     *
+     * \param _measurement the measurement
+     * \param _meas_covariance the noise of the measurement
+     *
+     */
+    FeatureGnssDisplacement(const Eigen::Vector4d& _measurement, const Eigen::Matrix4d& _meas_covariance)
+        : FeatureBase("FeatureGnssDisplacement", _measurement, _meas_covariance){};
+    FeatureGnssDisplacement(const Eigen::Vector3d& _measurement, const Eigen::Matrix3d& _meas_covariance)
+        : FeatureBase("FeatureGnssDisplacement", _measurement, _meas_covariance){};
+
+    ~FeatureGnssDisplacement() override{};
 };
 
-} // namespace wolf
+}  // namespace wolf

include/gnss/feature/feature_gnss_fix.h

@@ -20,45 +20,42 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "core/feature/feature_base.h"
 
-//std includes
+// std includes
 #include "gnss_utils/gnss_utils.h"
 #include "gnss_utils/utils/rcv_position.h"
 
-namespace wolf {
-
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(FeatureGnssFix);
 
-//class FeatureGnssFix
+// class FeatureGnssFix
 class FeatureGnssFix : public FeatureBase
 {
-    public:
-
-        /** \brief Constructor from capture pointer and measure
-         *
-         * \param _measurement the measurement
-         * \param _meas_covariance the noise of the measurement
-         *
-         */
-        FeatureGnssFix(const GnssUtils::ComputePosOutput& _gnss_fix_output);
-
-        ~FeatureGnssFix() override{};
-
-    private:
-        GnssUtils::ComputePosOutput gnss_fix_output_;
-
+  public:
+    /** \brief Constructor from capture pointer and measure
+     *
+     * \param _measurement the measurement
+     * \param _meas_covariance the noise of the measurement
+     *
+     */
+    FeatureGnssFix(const GnssUtils::ComputePosOutput& _gnss_fix_output);
+
+    ~FeatureGnssFix() override{};
+
+  private:
+    GnssUtils::ComputePosOutput gnss_fix_output_;
 };
 
-inline FeatureGnssFix::FeatureGnssFix(const GnssUtils::ComputePosOutput& _gnss_fix_output) :
-        FeatureBase("FeatureGnssFix", 
-                    (Eigen::Vector4d() << _gnss_fix_output.pos, _gnss_fix_output.rcv_bias(0)).finished(), 
-                    _gnss_fix_output.sol_cov),
-        gnss_fix_output_(_gnss_fix_output)
-{
-    //
-};
+inline FeatureGnssFix::FeatureGnssFix(const GnssUtils::ComputePosOutput& _gnss_fix_output)
+    : FeatureBase("FeatureGnssFix",
+                  (Eigen::Vector4d() << _gnss_fix_output.pos, _gnss_fix_output.rcv_bias(0)).finished(),
+                  _gnss_fix_output.sol_cov),
+      gnss_fix_output_(_gnss_fix_output){
+          //
+      };
 
-} // namespace wolf
+}  // namespace wolf

include/gnss/feature/feature_gnss_satellite.h

@@ -20,57 +20,57 @@
 
 #pragma once
 
-//Wolf includes
+// Wolf includes
 #include "gnss/common/gnss.h"
 #include "core/feature/feature_base.h"
 
-//std includes
+// std includes
 #include "gnss_utils/range.h"
 #include "gnss_utils/utils/satellite.h"
 
-namespace wolf {
-
+namespace wolf
+{
 WOLF_PTR_TYPEDEFS(FeatureGnssSatellite);
 WOLF_LIST_TYPEDEFS(FeatureGnssSatellite);
 
-//class FeatureGnssSatellite
+// class FeatureGnssSatellite
 class FeatureGnssSatellite : public FeatureBase
 {
-    public:
-
-        /** \brief Constructor
-         *
-         * \param _obs_sat satellite observation in rtklib format
-         *
-         * This constructor will take the pseudorange as measurement with 1 m² of variance
-         *
-         */
-        FeatureGnssSatellite(const obsd_t& _obs_sat, const GnssUtils::Satellite& _sat, const GnssUtils::Range& _range);
-
-        ~FeatureGnssSatellite() override{};
-
-        const obsd_t& getObservation() const;
-        int satNumber() const;
-        const GnssUtils::Satellite& getSatellite() const;
-        const GnssUtils::Range& getRange() const;
-
-    private:
-      obsd_t obs_sat_;
-      GnssUtils::Satellite sat_;
-      GnssUtils::Range range_;
+  public:
+    /** \brief Constructor
+     *
+     * \param _obs_sat satellite observation in rtklib format
+     *
+     * This constructor will take the pseudorange as measurement with 1 m² of variance
+     *
+     */
+    FeatureGnssSatellite(const obsd_t& _obs_sat, const GnssUtils::Satellite& _sat, const GnssUtils::Range& _range);
+
+    ~FeatureGnssSatellite() override{};
+
+    const obsd_t&               getObservation() const;
+    int                         satNumber() const;
+    const GnssUtils::Satellite& getSatellite() const;
+    const GnssUtils::Range&     getRange() const;
+
+  private:
+    obsd_t               obs_sat_;
+    GnssUtils::Satellite sat_;
+    GnssUtils::Range     range_;
 };
 
-
-} // namespace wolf
+}  // namespace wolf
 
 // IMPLEMENTATION
-namespace wolf {
-
-inline FeatureGnssSatellite::FeatureGnssSatellite(const obsd_t& _obs_sat, const GnssUtils::Satellite& _sat, const GnssUtils::Range& _range) :
-    FeatureBase("FeatureGnssPseudoRange", Eigen::Vector1d(_range.P_corrected), Eigen::Matrix1d(_range.P_var)),
-    obs_sat_(_obs_sat),
-    sat_(_sat),
-    range_(_range)
+namespace wolf
+{
+inline FeatureGnssSatellite::FeatureGnssSatellite(const obsd_t&               _obs_sat,
+                                                  const GnssUtils::Satellite& _sat,
+                                                  const GnssUtils::Range&     _range)
+    : FeatureBase("FeatureGnssPseudoRange", Eigen::Vector1d(_range.P_corrected), Eigen::Matrix1d(_range.P_var)),
+      obs_sat_(_obs_sat),
+      sat_(_sat),
+      range_(_range)
 {
     //
 }
@@ -95,4 +95,4 @@ inline const GnssUtils::Range& FeatureGnssSatellite::getRange() const
     return range_;
 }
 
-} // namespace wolf
+}  // namespace wolf

include/gnss/processor/processor_gnss_fix.h

@@ -31,19 +31,18 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(ProcessorGnssFix);
 
 // class
 class ProcessorGnssFix : public ProcessorBase
 {
   protected:
-    SensorGnssPtr             sensor_gnss_;
-    CaptureBasePtr            last_KF_capture_, incoming_capture_;
-    FeatureBasePtr            last_KF_feature_, incoming_feature_;
-    FrameBasePtr              last_KF_;
-    Eigen::Vector3d           first_pos_;
-    VectorComposite           first_frame_state_;
+    SensorGnssPtr   sensor_gnss_;
+    CaptureBasePtr  last_KF_capture_, incoming_capture_;
+    FeatureBasePtr  last_KF_feature_, incoming_feature_;
+    FrameBasePtr    last_KF_;
+    Eigen::Vector3d first_pos_;
+    VectorComposite first_frame_state_;
 
   public:
     ProcessorGnssFix(const YAML::Node& _params);

include/gnss/processor/processor_gnss_tdcp.h

@@ -41,9 +41,9 @@ WOLF_PTR_TYPEDEFS(ProcessorGnssTdcp);
 class ProcessorGnssTdcp : public ProcessorBase
 {
   protected:
-    SensorGnssPtr              sensor_gnss_;
-    CaptureGnssPtr             incoming_capture_;
-    FrameBasePtr               last_KF_;
+    SensorGnssPtr  sensor_gnss_;
+    CaptureGnssPtr incoming_capture_;
+    FrameBasePtr   last_KF_;
 
   public:
     ProcessorGnssTdcp(const YAML::Node& _params);
@@ -110,9 +110,9 @@ class ProcessorGnssTdcp : public ProcessorBase
   private:
     FactorBasePtr emplaceFactor(FeatureBasePtr _ftr, FrameBasePtr _frm_ref);
 
-    //PARAMS
+    // PARAMS
     struct GnssUtils::TdcpOptions params_tdcp_;
-    GnssUtils::Options params_compute_pos_;
+    GnssUtils::Options            params_compute_pos_;
 };
 
 inline FrameBaseConstPtr ProcessorGnssTdcp::getLastKF() const

include/gnss/processor/processor_tracker_gnss.h

@@ -29,7 +29,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(ProcessorTrackerGnss);
 
 // Class
@@ -153,7 +152,7 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
 
     void removeOutliers(FactorBasePtrList fac_list, CaptureBasePtr cap);
 
-    protected:
+  protected:
     // PARAMS
     GnssUtils::Options     gnss_opt_;
     GnssUtils::Options     fix_opt_{GnssUtils::default_options};
@@ -163,7 +162,6 @@ class ProcessorTrackerGnss : public ProcessorTrackerFeature
     bool                   init_frames_, use_pseudo_ranges_, use_fix_, use_tdcp_, apply_sagnac_correction_;
     int                    min_sbas_sats_;
     std::string            tdcp_structure_;
-
 };
 
 inline ProcessorTrackerGnss::~ProcessorTrackerGnss()

include/gnss/sensor/sensor_gnss.h

@@ -26,7 +26,6 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(SensorGnss);
 class SensorGnss : public SensorBase
 {
@@ -105,7 +104,6 @@ class SensorGnss : public SensorBase
 
 namespace wolf
 {
-
 inline bool SensorGnss::isEnuDefined() const
 {
     return ENU_defined_;

include/gnss/tree_manager/tree_manager_sliding_window_tdcp.h

@@ -25,22 +25,21 @@
 
 namespace wolf
 {
-
 WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindowTdcp)
 
 class TreeManagerSlidingWindowTdcp : public TreeManagerSlidingWindow
 {
-    public:
-        TreeManagerSlidingWindowTdcp(const YAML::Node& _params);
-        WOLF_TREE_MANAGER_CREATE(TreeManagerSlidingWindowTdcp)
+  public:
+    TreeManagerSlidingWindowTdcp(const YAML::Node& _params);
+    WOLF_TREE_MANAGER_CREATE(TreeManagerSlidingWindowTdcp)
 
-        ~TreeManagerSlidingWindowTdcp() override{}
+    ~TreeManagerSlidingWindowTdcp() override {}
 
-        void keyFrameCallback(FrameBasePtr _key_frame) override;
+    void keyFrameCallback(FrameBasePtr _key_frame) override;
 
-    protected:
-        SensorBasePtr sensor_imu_;
-        Eigen::Matrix6d cov_bias_;
+  protected:
+    SensorBasePtr   sensor_imu_;
+    Eigen::Matrix6d cov_bias_;
 };
 
 } /* namespace wolf */