diff --git a/include/imu/processor/processor_imu_3d.h b/include/imu/processor/processor_imu_3d.h
index 6a44e268bd00411833e869023e81f9bbe0697102..d01eac4bf52f013467aa2705982eadc6839fe2dc 100644
--- a/include/imu/processor/processor_imu_3d.h
+++ b/include/imu/processor/processor_imu_3d.h
@@ -54,36 +54,36 @@ class ProcessorImu3d : public ProcessorMotion
const Eigen::MatrixXd &_data_cov,
const Eigen::VectorXd &_calib,
const double _dt,
- Eigen::VectorXd &_delta,
- Eigen::MatrixXd &_delta_cov,
- Eigen::MatrixXd &_jacobian_calib) const override;
+ Eigen::VectorXd & _delta,
+ Eigen::MatrixXd & _delta_cov,
+ Eigen::MatrixXd & _jacobian_calib) const override;
void deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
- Eigen::VectorXd &_delta_preint_plus_delta) const override;
+ Eigen::VectorXd & _delta_preint_plus_delta) const override;
void deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
- Eigen::VectorXd &_delta_preint_plus_delta,
- Eigen::MatrixXd &_jacobian_delta_preint,
- Eigen::MatrixXd &_jacobian_delta) const override;
+ Eigen::VectorXd & _delta_preint_plus_delta,
+ Eigen::MatrixXd & _jacobian_delta_preint,
+ Eigen::MatrixXd & _jacobian_delta) const override;
void statePlusDelta(const VectorComposite &_x,
const Eigen::VectorXd &_delta,
const double _Dt,
- VectorComposite &_x_plus_delta) const override;
+ VectorComposite & _x_plus_delta) const override;
Eigen::VectorXd deltaZero() const override;
Eigen::VectorXd correctDelta(const Eigen::VectorXd &delta_preint,
const Eigen::VectorXd &delta_step) const override;
VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
void setCalibration(const CaptureBasePtr _capture, const VectorXd &_calibration) override;
bool voteForKeyFrame() const override;
- CaptureMotionPtr emplaceCapture(const FrameBasePtr &_frame_own,
- const SensorBasePtr &_sensor,
- const TimeStamp &_ts,
- const VectorXd &_data,
- const MatrixXd &_data_cov,
- const VectorXd &_calib,
- const VectorXd &_calib_preint,
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr & _frame_own,
+ const SensorBasePtr & _sensor,
+ const TimeStamp & _ts,
+ const VectorXd & _data,
+ const MatrixXd & _data_cov,
+ const VectorXd & _calib,
+ const VectorXd & _calib_preint,
const CaptureBasePtr &_capture_origin) override;
virtual void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
diff --git a/src/processor/processor_imu_3d.cpp b/src/processor/processor_imu_3d.cpp
index bd682e851326af51e11a5be84f2d33b54883f202..8f0253cf4fabcf695d2d4d39d25708872a1cdb4a 100644
--- a/src/processor/processor_imu_3d.cpp
+++ b/src/processor/processor_imu_3d.cpp
@@ -100,13 +100,13 @@ bool ProcessorImu3d::voteForKeyFrame() const
return false;
}
-CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr &_frame_own,
- const SensorBasePtr &_sensor,
- const TimeStamp &_ts,
- const VectorXd &_data,
- const MatrixXd &_data_cov,
- const VectorXd &_calib,
- const VectorXd &_calib_preint,
+CaptureMotionPtr ProcessorImu3d::emplaceCapture(const FrameBasePtr & _frame_own,
+ const SensorBasePtr & _sensor,
+ const TimeStamp & _ts,
+ const VectorXd & _data,
+ const MatrixXd & _data_cov,
+ const VectorXd & _calib,
+ const VectorXd & _calib_preint,
const CaptureBasePtr &_capture_origin)
{
auto cap_motion = std::static_pointer_cast<CaptureMotion>(
@@ -178,9 +178,9 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
const Eigen::MatrixXd &_data_cov,
const Eigen::VectorXd &_calib,
const double _dt,
- Eigen::VectorXd &_delta,
- Eigen::MatrixXd &_delta_cov,
- Eigen::MatrixXd &_jac_delta_calib) const
+ Eigen::VectorXd & _delta,
+ Eigen::MatrixXd & _delta_cov,
+ Eigen::MatrixXd & _jac_delta_calib) const
{
assert(_data.size() == data_size_ && "Wrong data size!");
@@ -219,7 +219,7 @@ void ProcessorImu3d::computeCurrentDelta(const Eigen::VectorXd &_data,
void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
- Eigen::VectorXd &_delta_preint_plus_delta) const
+ Eigen::VectorXd & _delta_preint_plus_delta) const
{
/* MATHS according to Sola-16
* Dp' = Dp + Dv*dt + 1/2*Dq*(a-a_b)*dt^2 = Dp + Dv*dt + Dq*dp if dp =
@@ -236,7 +236,7 @@ void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
const Eigen::VectorXd &_delta,
const double _dt,
- VectorComposite &_x_plus_delta) const
+ VectorComposite & _x_plus_delta) const
{
assert(_delta.size() == 10 && "Wrong _delta vector size");
assert(_dt >= 0 && "Time interval _dt is negative!");
@@ -256,9 +256,9 @@ void ProcessorImu3d::statePlusDelta(const VectorComposite &_x,
void ProcessorImu3d::deltaPlusDelta(const Eigen::VectorXd &_delta_preint,
const Eigen::VectorXd &_delta,
const double _dt,
- Eigen::VectorXd &_delta_preint_plus_delta,
- Eigen::MatrixXd &_jacobian_delta_preint,
- Eigen::MatrixXd &_jacobian_delta) const
+ Eigen::VectorXd & _delta_preint_plus_delta,
+ Eigen::MatrixXd & _jacobian_delta_preint,
+ Eigen::MatrixXd & _jacobian_delta) const
{
/*
* Expression of the delta integration step, D' = D (+) d:
@@ -530,8 +530,8 @@ bool ProcessorImu3d::recomputeStates() const
const auto &cap_origin = cap->getOriginCapture();
const auto &frm_origin = cap_origin->getFrame();
const auto &delta = VectorComposite({{'P', ftr->getMeasurement().head<3>()},
- {'O', ftr->getMeasurement().segment<4>(3)},
- {'V', ftr->getMeasurement().tail<3>()}});
+ {'O', ftr->getMeasurement().segment<4>(3)},
+ {'V', ftr->getMeasurement().tail<3>()}});
const auto &x_origin = frm_origin->getState();
auto dt = cap->getTimeStamp() - cap_origin->getTimeStamp();
auto x = imu::composeOverState(x_origin, delta, dt);