From 88bc08389236f054d02f993d6083e722773ef867 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Fri, 17 Jun 2022 11:02:45 +0200 Subject: [PATCH] Add structure "bootstrap" in PrcImu yaml --- include/imu/processor/processor_imu.h | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h index ca0d88853..55d5a24d4 100644 --- a/include/imu/processor/processor_imu.h +++ b/include/imu/processor/processor_imu.h @@ -45,22 +45,22 @@ struct ParamsProcessorImu : public ParamsProcessorMotion ParamsProcessorImu(std::string _unique_name, const ParamsServer& _server): ParamsProcessorMotion(_unique_name, _server) { - bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap_enable"); + bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap/enable"); if (bootstrap_enable) { - string str = _server.getParam<string>(prefix + _unique_name + "/bootstrap_method"); + string str = _server.getParam<string>(prefix + _unique_name + "/bootstrap/method"); std::transform(str.begin(), str.end(), str.begin(), ::toupper); if (str == "STATIC" /**/) { bootstrap_method = BOOTSTRAP_STATIC; bootstrap_averaging_length = - _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length"); + _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length"); } if (str == "G" /* */) { bootstrap_method = BOOTSTRAP_G; bootstrap_averaging_length = - _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length"); + _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length"); } if (str == "V0_G" /* */) { -- GitLab