Merge branch 'processor_imu2d_slope' of...

Merge branch 'processor_imu2d_slope' of ssh://gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu into processor_imu2d_slope

include/imu/sensor/sensor_imu2d.h

@@ -79,7 +79,7 @@ struct ParamsSensorImu2d : public ParamsSensorBase
         wb_initial_stdev      = _server.getParam<double>(prefix + _unique_name + "/wb_initial_stdev");
         ab_rate_stdev         = _server.getParam<double>(prefix + _unique_name + "/ab_rate_stdev");
         wb_rate_stdev         = _server.getParam<double>(prefix + _unique_name + "/wb_rate_stdev");
-        orthogonal_gravity = _server.getParam<bool>(prefix   + _unique_name + "/orthogonal_gravity");
+        orthogonal_gravity    = _server.getParam<bool>(prefix   + _unique_name + "/orthogonal_gravity");
     }
     std::string print() const override
     {
@@ -90,7 +90,7 @@ struct ParamsSensorImu2d : public ParamsSensorBase
             + "wb_initial_stdev: "        + std::to_string(wb_initial_stdev)  + "\n"
             + "ab_rate_stdev: "           + std::to_string(ab_rate_stdev)     + "\n"
             + "wb_rate_stdev: "           + std::to_string(wb_rate_stdev)     + "\n"
-            + "orthogonal_gravity: "   + std::to_string(orthogonal_gravity)     + "\n";
+            + "orthogonal_gravity: "      + std::to_string(orthogonal_gravity)     + "\n";
     }
 };
 
@@ -108,7 +108,8 @@ class SensorImu2d : public SensorBase
         double wb_initial_stdev; //gyroscope rad/sec
         double ab_rate_stdev;    //accelerometer m/sec^2 / sqrt(sec)
         double wb_rate_stdev;    //gyroscope rad/sec / sqrt(sec)
-        bool orthogonal_gravity;
+
+        bool orthogonal_gravity; // Is the 2D plane orthogonal to gravity?
 
     public: