[skip-ci] little renaming

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();