From 81a0d645c70693b222dbae66493e2c60cee261fd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sun, 19 Jun 2022 00:08:25 +0200
Subject: [PATCH] [skip ci] const ref variable
---
src/processor/processor_imu.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 87582d974..11fc86b1d 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -282,7 +282,7 @@ void ProcessorImu::bootstrap()
// compute local g and transformation to global g
double dt = t_current - first_capture->getTimeStamp(); //
- Vector3d dv = delta_int.segment(7, 3); //
+ const auto& dv = delta_int.segment(7, 3); //
Vector3d g_l = -((q_l_r * q_r_s) * dv / dt); // See eq. (20)
const auto& g_w = gravity(); //
const auto& p_w_l = Vector3d::Zero(); // will pivot around the local origin
--
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