From 94d1064b65f053acb209ee9c18bedf62dc191918 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 18 Jan 2019 22:54:29 +0100
Subject: [PATCH] Format for better readability

---
 src/constraints/constraint_autodiff_apriltag.h | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/src/constraints/constraint_autodiff_apriltag.h b/src/constraints/constraint_autodiff_apriltag.h
index 97e25af9c..d95f4ec24 100644
--- a/src/constraints/constraint_autodiff_apriltag.h
+++ b/src/constraints/constraint_autodiff_apriltag.h
@@ -93,10 +93,12 @@ ConstraintAutodiffApriltag::~ConstraintAutodiffApriltag()
 template<typename T> bool ConstraintAutodiffApriltag::operator ()( const T* const _p_camera, const T* const _o_camera, const T* const _p_keyframe, const T* const _o_keyframe, const T* const _p_landmark, const T* const _o_landmark, T* _residuals) const
 {
     //states
-    Eigen::Translation<T,3> p_camera(_p_camera[0], _p_camera[1], _p_camera[2]),
-                            p_keyframe(_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]),
-                            p_landmark(_p_landmark[0], _p_landmark[1], _p_landmark[2]);
-    Eigen::Quaternion<T> q_camera(_o_camera), q_keyframe(_o_keyframe), q_landmark(_o_landmark);
+    Eigen::Translation<T,3> p_camera    (_p_camera[0]  , _p_camera[1]  , _p_camera[2]),
+                            p_keyframe  (_p_keyframe[0], _p_keyframe[1], _p_keyframe[2]),
+                            p_landmark  (_p_landmark[0], _p_landmark[1], _p_landmark[2]);
+    Eigen::Quaternion<T> q_camera   (_o_camera),
+                         q_keyframe (_o_keyframe),
+                         q_landmark (_o_landmark);
 
     //Measurements T and Q
     Eigen::Translation3ds  p_measured(getMeasurement().head(3));
-- 
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