From 2e8c29ca1924d0cd23642236aeb0168fd6b61151 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Tue, 28 Jun 2022 20:22:19 +0200
Subject: [PATCH] [skip-ci] little renaming
---
src/processor/processor_imu.cpp | 14 +++++++-------
1 file changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 2446e1d7e..6caa60c5e 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -259,7 +259,7 @@ void ProcessorImu::bootstrap()
CaptureBasePtr first_capture = bootstrapOrigin();
TimeStamp t_current = last_ptr_->getBuffer().back().ts_;
- VectorComposite transformation("PO");
+ VectorComposite transfo_w_l("PO");
switch (params_motion_Imu_->bootstrap_method)
{
case ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_STATIC:
@@ -282,11 +282,11 @@ void ProcessorImu::bootstrap()
const auto& g_w = gravity(); //
const auto& p_w_l = Vector3d::Zero(); // will pivot around the origin
Quaterniond q_w_l = Quaterniond::FromTwoVectors(g_l, g_w); //
- transformation.at('P') = p_w_l; //
- transformation.at('O') = q_w_l.coeffs(); //
+ transfo_w_l.at('P') = p_w_l; //
+ transfo_w_l.at('O') = q_w_l.coeffs(); //
// Transform problem to new reference
- getProblem()->transform(transformation);
+ getProblem()->transform(transfo_w_l);
// Recompute states at keyframes if they were provided by this processor
bool recomputed = recomputeStates();
@@ -331,11 +331,11 @@ void ProcessorImu::bootstrap()
const auto& g_w = gravity(); //
const auto& p_w_l = Vector3d::Zero(); // will pivot around the origin
Quaterniond q_w_l = Quaterniond::FromTwoVectors(g_l, g_w); //
- transformation.at('P') = p_w_l; //
- transformation.at('O') = q_w_l.coeffs(); //
+ transfo_w_l.at('P') = p_w_l; //
+ transfo_w_l.at('O') = q_w_l.coeffs(); //
// Transform problem to new reference
- getProblem()->transform(transformation);
+ getProblem()->transform(transfo_w_l);
// Recompute states at keyframes if they were provided by this processor
bool recomputed = recomputeStates();
--
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