Small formatting

include/core/sensor/sensor_diff_drive.h

@@ -53,15 +53,20 @@ class SensorDiffDrive : public SensorBase
 {
     public:
         SensorDiffDrive(const Eigen::VectorXs& _extrinsics,
-                                 const IntrinsicsDiffDrivePtr& _intrinsics);
+                        const IntrinsicsDiffDrivePtr& _intrinsics);
         WOLF_SENSOR_CREATE(SensorDiffDrive, IntrinsicsDiffDrive, 3);
         virtual ~SensorDiffDrive();
-        IntrinsicsDiffDriveConstPtr getParams() const {return params_diff_drive_;}
+        IntrinsicsDiffDriveConstPtr getParams() const;
 
-    protected:
+    private:
         IntrinsicsDiffDrivePtr params_diff_drive_;
 };
 
+inline wolf::IntrinsicsDiffDriveConstPtr SensorDiffDrive::getParams() const
+{
+    return params_diff_drive_;
+}
+
 } /* namespace wolf */
 
 #endif /* SENSOR_SENSOR_DIFF_DRIVE_H_ */

src/sensor/sensor_diff_drive.cpp

@@ -12,13 +12,13 @@ namespace wolf
 {
 
 SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXs& _extrinsics,
-                                                   const IntrinsicsDiffDrivePtr& _intrinsics) :
-                                                           SensorBase("DIFF DRIVE",
-                                                                      std::make_shared<StateBlock>(_extrinsics.head(2), true),
-                                                                      std::make_shared<StateAngle>(_extrinsics(2), true),
-                                                                      std::make_shared<StateBlock>(3, false),
-                                                                      2),
-                                                                      params_diff_drive_(_intrinsics)
+                                 const IntrinsicsDiffDrivePtr& _intrinsics) :
+                                                                   SensorBase("DIFF DRIVE",
+                                                                              std::make_shared<StateBlock>(_extrinsics.head(2), true),
+                                                                              std::make_shared<StateAngle>(_extrinsics(2), true),
+                                                                              std::make_shared<StateBlock>(3, false),
+                                                                              2),
+                                                                   params_diff_drive_(_intrinsics)
 {
     params_diff_drive_->radians_per_tick = 2.0*M_PI / params_diff_drive_->ticks_per_wheel_revolution;
     getIntrinsic()->setState(Eigen::Vector3s(_intrinsics->radius_left,_intrinsics->radius_right,_intrinsics->wheel_separation));