From 8b0773af25e8843545e26e1ac569504257158d40 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 17 Jun 2022 10:57:08 +0200
Subject: [PATCH] Improve logic of bootstrap params parsing
---
include/imu/processor/processor_imu.h | 22 +++++++++++++++++-----
1 file changed, 17 insertions(+), 5 deletions(-)
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 5982b720e..ca0d88853 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -48,12 +48,24 @@ struct ParamsProcessorImu : public ParamsProcessorMotion
bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap_enable");
if (bootstrap_enable)
{
- bootstrap_averaging_length = _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length");
- 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;
- if (str == "G" /* */) bootstrap_method = BOOTSTRAP_G;
- if (str == "V0_G" /* */) bootstrap_method = BOOTSTRAP_V0_G;
+ if (str == "STATIC" /**/)
+ {
+ bootstrap_method = BOOTSTRAP_STATIC;
+ 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");
+ }
+ if (str == "V0_G" /* */)
+ {
+ bootstrap_method = BOOTSTRAP_V0_G;
+ }
}
}
std::string print() const override
--
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