diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h index fbecdc8a0fbb1558ffa92687a9f220cada49c3dd..b7788c27ffb4a06cdbc440ec091553d5b216440a 100644 --- a/hello_wolf/sensor_range_bearing.h +++ b/hello_wolf/sensor_range_bearing.h @@ -26,13 +26,13 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase IntrinsicsRangeBearing(std::string _unique_name, const ParamsServer& _server): IntrinsicsBase(_unique_name, _server) { - noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std"); - noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std"); + noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std"); + noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std"); } std::string print() { - return "" + IntrinsicsBase::print() - + "noise_range_metres_std: " + std::to_string(noise_range_metres_std) + "\n" + return "" + IntrinsicsBase::print() + "\n" + + "noise_range_metres_std: " + std::to_string(noise_range_metres_std) + "\n" + "noise_bearing_degrees_std: " + std::to_string(noise_bearing_degrees_std) + "\n"; } }; diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h index e605ab90439fb98b1500f5945dad9e4cb05a8a28..c97dc86acf543d15d53fe71737e00ccd3283e428 100644 --- a/include/core/processor/processor_base.h +++ b/include/core/processor/processor_base.h @@ -227,9 +227,9 @@ struct ProcessorParamsBase : public ParamsBase std::string print() { return ParamsBase::print() + "\n" - + "voting_active: " + std::to_string(voting_active) + "\n" + + "voting_active: " + std::to_string(voting_active) + "\n" + "voting_aux_active: " + std::to_string(voting_aux_active) + "\n" - + "time_tolerance: " + std::to_string(time_tolerance) + "\n"; + + "time_tolerance: " + std::to_string(time_tolerance) + "\n"; } }; diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h index 6a5fb31c68922e9dee7cf7274e61fe8e4d95899d..cd1d7972d274dc6bafafa3227af7b27c11f76ebd 100644 --- a/include/core/processor/processor_motion.h +++ b/include/core/processor/processor_motion.h @@ -42,7 +42,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase } std::string print() { - return "\n" + ProcessorParamsBase::print() + return "\n" + ProcessorParamsBase::print() + "\n" + "max_time_span: " + std::to_string(max_time_span) + "\n" + "max_buff_length: " + std::to_string(max_buff_length) + "\n" + "dist_traveled: " + std::to_string(dist_traveled) + "\n" diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h index a7091f62a47ac14fe14e7ccec3228a99b2d9d4c3..a55b2e1c0b8610ccc17da17878b9936d64cfc407 100644 --- a/include/core/processor/processor_odom_2D.h +++ b/include/core/processor/processor_odom_2D.h @@ -32,8 +32,8 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion std::string print() { - return "\n" + ProcessorParamsMotion::print() - + "cov_det: " + std::to_string(cov_det) + "\n"; + return "\n" + ProcessorParamsMotion::print() + "\n" + + "cov_det: " + std::to_string(cov_det) + "\n"; } }; diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h index 4da4460be9b3e7241826202baee721c2479a55a5..dc59acee329e3dbe09ba03e25cb1c385347bf8ff 100644 --- a/include/core/processor/processor_tracker.h +++ b/include/core/processor/processor_tracker.h @@ -24,13 +24,14 @@ struct ProcessorParamsTracker : public ProcessorParamsBase ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server): ProcessorParamsBase(_unique_name, _server) { - min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe"); - max_new_features = _server.getParam<int>(_unique_name + "/max_new_features"); + min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe"); + max_new_features = _server.getParam<int>(_unique_name + "/max_new_features"); } std::string print() { - return ProcessorParamsBase::print() + "\n" + "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n" - + "max_new_features: " + std::to_string(max_new_features) + "\n"; + return ProcessorParamsBase::print() + "\n" + + "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n" + + "max_new_features: " + std::to_string(max_new_features) + "\n"; } }; diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h index 29866c85fc494c4a47e378ebf9726ddd0b8949a0..a36356ed87a3c793a4a8464e4b2a43c16e65043c 100644 --- a/include/core/sensor/sensor_diff_drive.h +++ b/include/core/sensor/sensor_diff_drive.h @@ -37,7 +37,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase } std::string print() { - return "\n" + IntrinsicsBase::print() + return "\n" + IntrinsicsBase::print() + "\n" + "radius_left: " + std::to_string(radius_left) + "\n" + "radius_right: " + std::to_string(radius_right) + "\n" + "wheel_separation: " + std::to_string(wheel_separation) + "\n" diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h index 614e715e5e5449d1afaa3cad7904c4e4276a1a44..83b776add9b4bba4c1994f047d06dedd3e8e5c1f 100644 --- a/include/core/sensor/sensor_odom_2D.h +++ b/include/core/sensor/sensor_odom_2D.h @@ -27,8 +27,9 @@ struct IntrinsicsOdom2D : public IntrinsicsBase } std::string print() { - return "\n" + IntrinsicsBase::print() + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n" - + "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n"; + return "\n" + IntrinsicsBase::print() + "\n" + + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n" + + "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n"; } }; diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h index c41ffe72548d33b477d03074a7b4674b958c8b08..1a727d613d8564c02d02f16abcf63410c96289b2 100644 --- a/include/core/sensor/sensor_odom_3D.h +++ b/include/core/sensor/sensor_odom_3D.h @@ -38,12 +38,12 @@ struct IntrinsicsOdom3D : public IntrinsicsBase } std::string print() { - return "\n" + IntrinsicsBase::print() - + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n" - + "k_disp_to_rot: " + std::to_string(k_disp_to_rot) + "\n" - + "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n" - + "min_disp_var: " + std::to_string(min_disp_var) + "\n" - + "min_rot_var: " + std::to_string(min_rot_var) + "\n"; + return "\n" + IntrinsicsBase::print() + "\n" + + "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n" + + "k_disp_to_rot: " + std::to_string(k_disp_to_rot) + "\n" + + "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n" + + "min_disp_var: " + std::to_string(min_disp_var) + "\n" + + "min_rot_var: " + std::to_string(min_rot_var) + "\n"; } virtual ~IntrinsicsOdom3D() = default; };