diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 6a9855ec3c0b2f3fbb9ff103472e3c4168cb5520..080fb3dcb51017f1c065a586acd04bb683b28c80 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -149,7 +149,7 @@ class ProcessorImu : public ProcessorMotion{
protected:
ParamsProcessorImuPtr params_motion_Imu_;
- std::list<FactorBasePtr> list_fac_inactive_bootstrap_; ///< List of all IMU factors created while IMU is bootstrapping
+ std::list<FactorBasePtr> bootstrap_factor_list_; ///< List of all IMU factors created while IMU is bootstrapping
};
}
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 6caa60c5e4a3a32d79318841a25a1aa05c823086..2fe42636bf35da2a9b285e1214542e2941777d70 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -34,7 +34,7 @@ ProcessorImu::ProcessorImu(ParamsProcessorImuPtr _params_motion_imu) :
params_motion_Imu_(_params_motion_imu)
{
bootstrapping_ = params_motion_Imu_->bootstrap_enable;
- list_fac_inactive_bootstrap_.clear();
+ bootstrap_factor_list_.clear();
}
ProcessorImu::~ProcessorImu()
@@ -126,7 +126,7 @@ FactorBasePtr ProcessorImu::emplaceFactor(FeatureBasePtr _feature_motion, Captur
if (bootstrapping_)
{
fac_imu->setStatus(FAC_INACTIVE);
- list_fac_inactive_bootstrap_.push_back(fac_imu);
+ bootstrap_factor_list_.push_back(fac_imu);
}
return fac_imu;
@@ -276,12 +276,12 @@ void ProcessorImu::bootstrap()
VectorXd delta_int = bootstrapDelta();
// compute local g and transformation to global g
- double dt = t_current - first_capture->getTimeStamp(); //
- const auto& dv = delta_int.segment(7, 3); //
- Vector3d g_l = -(q_l_s * dv / dt); // See eq. (20)
- 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); //
+ double dt = t_current - first_capture->getTimeStamp(); //
+ const auto& dv = delta_int.segment(7, 3); //
+ Vector3d g_l = -(q_l_s * dv / dt); // See eq. (20)
+ 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); //
transfo_w_l.at('P') = p_w_l; //
transfo_w_l.at('O') = q_w_l.coeffs(); //
@@ -300,10 +300,10 @@ void ProcessorImu::bootstrap()
// - zero-displaecement odom3d factors (between KFs)
// Activate factors that were inactive during bootstrap
- while (not list_fac_inactive_bootstrap_.empty())
+ while (not bootstrap_factor_list_.empty())
{
- list_fac_inactive_bootstrap_.front()->setStatus(FAC_ACTIVE);
- list_fac_inactive_bootstrap_.pop_front();
+ bootstrap_factor_list_.front()->setStatus(FAC_ACTIVE);
+ bootstrap_factor_list_.pop_front();
}
// Clear bootstrapping flag. This marks the end of the bootstrapping process
@@ -325,12 +325,12 @@ void ProcessorImu::bootstrap()
VectorXd delta_int = bootstrapDelta();
// compute local g and transformation to global g
- double dt = t_current - first_capture->getTimeStamp(); //
- const auto& dv_l = delta_int.segment(7, 3); //
- Vector3d g_l = -(q_l_s * dv_l / dt); // See eq. (20)
- 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); //
+ double dt = t_current - first_capture->getTimeStamp(); //
+ const auto& dv_l = delta_int.segment(7, 3); //
+ Vector3d g_l = -(q_l_s * dv_l / dt); // See eq. (20)
+ 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); //
transfo_w_l.at('P') = p_w_l; //
transfo_w_l.at('O') = q_w_l.coeffs(); //
@@ -345,10 +345,10 @@ void ProcessorImu::bootstrap()
}
// Activate factors that were inactive during bootstrap
- while (not list_fac_inactive_bootstrap_.empty())
+ while (not bootstrap_factor_list_.empty())
{
- list_fac_inactive_bootstrap_.front()->setStatus(FAC_ACTIVE);
- list_fac_inactive_bootstrap_.pop_front();
+ bootstrap_factor_list_.front()->setStatus(FAC_ACTIVE);
+ bootstrap_factor_list_.pop_front();
}
// Clear bootstrapping flag. This marks the end of the bootstrapping process
@@ -380,10 +380,10 @@ void ProcessorImu::bootstrapEnable(bool _bootstrap_enable)
CaptureBasePtr ProcessorImu::bootstrapOrigin() const
{
- if (list_fac_inactive_bootstrap_.empty())
+ if (bootstrap_factor_list_.empty())
return origin_ptr_;
else
- return std::static_pointer_cast<CaptureMotion>(list_fac_inactive_bootstrap_.front()->getCapture())
+ return std::static_pointer_cast<CaptureMotion>(bootstrap_factor_list_.front()->getCapture())
->getOriginCapture();
}
@@ -393,7 +393,7 @@ VectorXd ProcessorImu::bootstrapDelta() const
// first, integrate all deltas in previous factors
VectorXd delta_int = deltaZero();
double dt;
- for (const auto& fac : list_fac_inactive_bootstrap_)
+ for (const auto& fac : bootstrap_factor_list_)
// here, we take advantage of the list of IMU factors to recover all deltas
{
dt = fac->getCapture()->getTimeStamp() - fac->getCaptureOther()->getTimeStamp();
@@ -416,7 +416,7 @@ bool ProcessorImu::recomputeStates() const
std::static_pointer_cast<const ProcessorMotion>(shared_from_this())))
{
WOLF_DEBUG("Recomputing IMU keyframe states...");
- for (const auto& fac : list_fac_inactive_bootstrap_)
+ for (const auto& fac : bootstrap_factor_list_)
{
const auto& ftr = fac->getFeature();
const auto& cap = std::static_pointer_cast<CaptureMotion>(ftr->getCapture());