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" /*  */)
             {
-- 
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