Rename list_fac_inactive_bootstrap_ --> bootstrap_factor_list_

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
 };
 }
 

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());