From ad705126a9cfa65789dabecb857e662269bf60cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 7 Feb 2019 16:02:44 +0100
Subject: [PATCH] Small doc fix

---
 src/processor_odom_2D.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp
index 19818dffc..5041ae985 100644
--- a/src/processor_odom_2D.cpp
+++ b/src/processor_odom_2D.cpp
@@ -21,7 +21,7 @@ void ProcessorOdom2D::computeCurrentDelta(const Eigen::VectorXs& _data, const Ei
     assert(_data_cov.rows() == data_size_ && "Wrong _data_cov size");
     assert(_data_cov.cols() == data_size_ && "Wrong _data_cov size");
 
-    // data  is [dtheta, dr]
+    // data  is [dr, dtheta]
     // delta is [dx, dy, dtheta]
     // motion model is 1/2 turn + straight + 1/2 turn
     _delta(0) = cos(_data(1) / 2) * _data(0);
-- 
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