From 51cfdfab146da9440d5e48a832c684fee77685f0 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 6 Feb 2019 19:03:12 +0100
Subject: [PATCH] Format
---
src/processors/processor_diff_drive.cpp | 17 ++++++++++++-----
1 file changed, 12 insertions(+), 5 deletions(-)
diff --git a/src/processors/processor_diff_drive.cpp b/src/processors/processor_diff_drive.cpp
index dba867cc3..2aed6ce64 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:
--
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