diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h index a7432b15148d942630fa470ea79331d0ca074059..1bb4fe4862e774ca624338c3710ca0d87257d924 100644 --- a/include/core/problem/problem.h +++ b/include/core/problem/problem.h @@ -262,10 +262,10 @@ class Problem : public std::enable_shared_from_this<Problem> // State getters Eigen::VectorXs getCurrentState ( ) const; - void getCurrentState (Eigen::VectorXs& state) const; - void getCurrentStateAndStamp (Eigen::VectorXs& state, TimeStamp& _ts) const; + void getCurrentState (Eigen::VectorXs& _state) const; + void getCurrentStateAndStamp (Eigen::VectorXs& _state, TimeStamp& _ts) const; Eigen::VectorXs getState (const TimeStamp& _ts) const; - void getState (const TimeStamp& _ts, Eigen::VectorXs& state) const; + void getState (const TimeStamp& _ts, Eigen::VectorXs& _state) const; // Zero state provider Eigen::VectorXs zeroState ( ) const; bool priorIsSet() const; diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index ffed8bb922a282a88280f542a66efb99caeaf2dd..bcb8945b98bd536a6eb40cd917876f28cf38565d 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -328,42 +328,42 @@ Eigen::VectorXs Problem::getCurrentState() const return state; } -void Problem::getCurrentState(Eigen::VectorXs& state) const +void Problem::getCurrentState(Eigen::VectorXs& _state) const { if (processor_motion_ptr_ != nullptr) - processor_motion_ptr_->getCurrentState(state); + processor_motion_ptr_->getCurrentState(_state); else if (trajectory_ptr_->getLastKeyOrAuxFrame() != nullptr) - trajectory_ptr_->getLastKeyOrAuxFrame()->getState(state); + trajectory_ptr_->getLastKeyOrAuxFrame()->getState(_state); else - state = zeroState(); + _state = zeroState(); } -void Problem::getCurrentStateAndStamp(Eigen::VectorXs& state, TimeStamp& ts) const +void Problem::getCurrentStateAndStamp(Eigen::VectorXs& _state, TimeStamp& ts) const { if (processor_motion_ptr_ != nullptr) { - processor_motion_ptr_->getCurrentState(state); + processor_motion_ptr_->getCurrentState(_state); processor_motion_ptr_->getCurrentTimeStamp(ts); } else if (trajectory_ptr_->getLastKeyOrAuxFrame() != nullptr) { trajectory_ptr_->getLastKeyOrAuxFrame()->getTimeStamp(ts); - trajectory_ptr_->getLastKeyOrAuxFrame()->getState(state); + trajectory_ptr_->getLastKeyOrAuxFrame()->getState(_state); } else - state = zeroState(); + _state = zeroState(); } -void Problem::getState(const TimeStamp& _ts, Eigen::VectorXs& state) const +void Problem::getState(const TimeStamp& _ts, Eigen::VectorXs& _state) const { // try to get the state from processor_motion if any, otherwise... - if (processor_motion_ptr_ == nullptr || !processor_motion_ptr_->getState(_ts, state)) + if (processor_motion_ptr_ == nullptr || !processor_motion_ptr_->getState(_ts, _state)) { FrameBasePtr closest_frame = trajectory_ptr_->closestKeyOrAuxFrameToTimeStamp(_ts); if (closest_frame != nullptr) - closest_frame->getState(state); + closest_frame->getState(_state); else - state = zeroState(); + _state = zeroState(); } }