Format

include/core/sensor/sensor_odom_2D.h

@@ -23,7 +23,7 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
         IntrinsicsBase(_unique_name, _server)
     {
         k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
-        k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
+        k_rot_to_rot   = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
     }
   std::string print()
   {

include/core/sensor/sensor_odom_3D.h

@@ -31,18 +31,19 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
         IntrinsicsBase(_unique_name, _server)
     {
         k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
-        k_disp_to_rot = _server.getParam<Scalar>(_unique_name + "/k_disp_to_rot");
-        k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
-        min_disp_var = _server.getParam<Scalar>(_unique_name + "/min_disp_var");
-        min_rot_var = _server.getParam<Scalar>(_unique_name + "/min_rot_var");
+        k_disp_to_rot  = _server.getParam<Scalar>(_unique_name + "/k_disp_to_rot");
+        k_rot_to_rot   = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
+        min_disp_var   = _server.getParam<Scalar>(_unique_name + "/min_disp_var");
+        min_rot_var    = _server.getParam<Scalar>(_unique_name + "/min_rot_var");
     }
     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()
+        + "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;
 };