diff --git a/src/processors/processor_diff_drive.cpp b/src/processors/processor_diff_drive.cpp index dba867cc3fd603cf913de574035d2e42a46a545d..2aed6ce64a76be399e23e365dea54225346417f0 100644 --- a/src/processors/processor_diff_drive.cpp +++ b/src/processors/processor_diff_drive.cpp @@ -44,15 +44,22 @@ void ProcessorDiffDrive::computeCurrentDelta(const Eigen::VectorXs& _data, case DiffDriveModel::Two_Factor_Model: std::tie(vel, J_vel_data, J_vel_calib) = wheelPositionIncrementToVelocity<DiffDriveModel::Two_Factor_Model>( - _data, _data_cov, - intrinsics.left_radius_, intrinsics.right_radius_, intrinsics.separation_, - _calib, _dt); + _data, + _data_cov, + intrinsics.left_radius_, + intrinsics.right_radius_, + intrinsics.separation_, + _calib, + _dt); break; case DiffDriveModel::Three_Factor_Model: std::tie(vel, J_vel_data, J_vel_calib) = wheelPositionIncrementToVelocity<DiffDriveModel::Three_Factor_Model>( - _data, _data_cov, - intrinsics.left_radius_, intrinsics.right_radius_, intrinsics.separation_, + _data, + _data_cov, + intrinsics.left_radius_, + intrinsics.right_radius_, + intrinsics.separation_, _calib, _dt); break; case DiffDriveModel::Five_Factor_Model: