From 60e46d2d66804cdd1f99ee847e4802ad1460f079 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 16 Aug 2019 21:47:14 +0200
Subject: [PATCH] Small formatting
---
include/core/sensor/sensor_diff_drive.h | 11 ++++++++---
src/sensor/sensor_diff_drive.cpp | 14 +++++++-------
2 files changed, 15 insertions(+), 10 deletions(-)
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index a36356ed8..8c6de5fed 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/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_ */
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index d8c29515a..2eb2c1040 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/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));
--
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