some const functions public

include/core/processor/processor_motion.h

@@ -281,7 +281,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
         PackKeyFramePtr computeProcessingStep();
 
         // These are the pure virtual functions doing the mathematics
-    protected:
+    public:
 
         /** \brief convert raw CaptureMotion data to the delta-state format
          *
@@ -416,6 +416,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
         virtual Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
                                              const Eigen::VectorXd& delta_step) const = 0;
 
+    protected:
         /** \brief emplace a CaptureMotion
          * \param _ts time stamp
          * \param _sensor Sensor that produced the Capture
@@ -444,14 +445,15 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
          */
         virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0;
 
-        virtual VectorXd getCalibration (const CaptureBasePtr _capture) const = 0;
         virtual void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) = 0;
 
         Motion motionZero(const TimeStamp& _ts) const;
 
+    public:
+
+        virtual VectorXd getCalibration (const CaptureBasePtr _capture) const = 0;
         bool hasCalibration() const {return calib_size_ > 0;}
 
-    public:
         //getters
         CaptureMotionPtr getOrigin() const;
         CaptureMotionPtr getLast() const;