From 5f7b14ae1bfd06e0adbadf50d16ef48311766860 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 6 Feb 2019 10:48:14 +0100
Subject: [PATCH] Rename calib_ --> calib_preint_
---
src/processor_motion.cpp | 6 +++---
src/processor_motion.h | 2 +-
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 5457b42b9..d9594cd75 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -26,7 +26,7 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
delta_cov_(_delta_cov_size, _delta_cov_size),
delta_integrated_(_delta_size),
delta_integrated_cov_(_delta_cov_size, _delta_cov_size),
- calib_(_calib_size),
+ calib_preint_(_calib_size),
jacobian_delta_preint_(delta_cov_size_, delta_cov_size_),
jacobian_delta_(delta_cov_size_, delta_cov_size_),
jacobian_calib_(delta_size_, calib_size_)
@@ -387,12 +387,12 @@ void ProcessorMotion::integrateOneStep()
assert(dt_ >= 0 && "Time interval _dt is negative!");
// get vector of parameters to calibrate
- calib_ = getBuffer().getCalibrationPreint();
+ calib_preint_ = getBuffer().getCalibrationPreint();
// get data and convert it to delta, and obtain also the delta covariance
computeCurrentDelta(incoming_ptr_->getData(),
incoming_ptr_->getDataCovariance(),
- calib_,
+ calib_preint_,
dt_,
delta_,
delta_cov_,
diff --git a/src/processor_motion.h b/src/processor_motion.h
index a9e9b9771..e399bddcc 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -471,7 +471,7 @@ class ProcessorMotion : public ProcessorBase
Eigen::MatrixXs delta_cov_; ///< current delta covariance
Eigen::VectorXs delta_integrated_; ///< integrated delta
Eigen::MatrixXs delta_integrated_cov_; ///< integrated delta covariance
- Eigen::VectorXs calib_; ///< calibration vector
+ Eigen::VectorXs calib_preint_; ///< calibration vector used during pre-integration
Eigen::MatrixXs jacobian_delta_preint_; ///< jacobian of delta composition w.r.t previous delta integrated
Eigen::MatrixXs jacobian_delta_; ///< jacobian of delta composition w.r.t current delta
Eigen::MatrixXs jacobian_calib_; ///< jacobian of delta preintegration wrt calibration params
--
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