diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h index efe8d7e4daa8705ebe2e9ecb07be0f1d4a377d65..80936cfcdcbcfc8427c74336dc8052358b89b0f0 100644 --- a/include/core/sensor/sensor_odom_2D.h +++ b/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() { diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h index 2fab5f065909452622a8760e5f9a976c63327e89..a6d7296a9aa44a711060ae3fc6aae394e2c0e2da 100644 --- a/include/core/sensor/sensor_odom_3D.h +++ b/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; };