From 15b2df0a6331237a79f501bf7cc1564d3b0e9fed Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 18 Jun 2020 21:26:17 +0200
Subject: [PATCH] some const functions public

---
 include/core/processor/processor_motion.h | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 6d2b81e9e..e1caf7155 100644
--- a/include/core/processor/processor_motion.h
+++ b/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;
-- 
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