Minor cleanup

demos/hello_wolf/processor_range_bearing.cpp

@@ -50,30 +50,27 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
     }
 
     // 1. get KF
-    FrameBasePtr kf(nullptr);
+    FrameBasePtr keyframe(nullptr);
     if ( !buffer_frame_.empty() )
     {
         // KeyFrame Callback received
-        FrameBasePtr keyframe = buffer_frame_.select( _capture->getTimeStamp(), params_->time_tolerance );
-
-        if (keyframe!=nullptr)
-            kf = keyframe;
+        keyframe = buffer_frame_.select( _capture->getTimeStamp(), params_->time_tolerance );
 
         buffer_frame_.removeUpTo( _capture->getTimeStamp() );
 
-        assert( kf && "Callback KF is not close enough to _capture!");
+        assert( keyframe && "Callback KF is not close enough to _capture!");
     }
 
-    if (!kf)
+    if (!keyframe)
     {
         // No KeyFrame callback received -- we assume a KF is available to hold this _capture (checked in assert below)
-        kf = getProblem()->closestFrameToTimeStamp(_capture->getTimeStamp());
-        assert( (fabs(kf->getTimeStamp() - _capture->getTimeStamp()) < params_->time_tolerance) && "Could not find a KF close enough to _capture!");
+        keyframe = getProblem()->closestFrameToTimeStamp(_capture->getTimeStamp());
+        assert( (fabs(keyframe->getTimeStamp() - _capture->getTimeStamp()) < params_->time_tolerance) && "Could not find a KF close enough to _capture!");
     }
 
     // 2. cast incoming capture to the range-and-bearing type, add it to the keyframe
     CaptureRangeBearingPtr capture_rb = std::static_pointer_cast<CaptureRangeBearing>(_capture);
-    capture_rb->link(kf);
+    capture_rb->link(keyframe);
 
     // 3. explore all observations in the capture
     for (SizeEigen i = 0; i < capture_rb->getIds().size(); i++)
@@ -103,14 +100,14 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
         }
 
         // 5. create feature
-        Vector2d rb(range,bearing);
+        Vector2d measurement_rb(range,bearing);
         auto ftr = FeatureBase::emplace<FeatureRangeBearing>(capture_rb,
-                                                             rb,
+                                                             measurement_rb,
                                                              getSensor()->getNoiseCov());
 
         // 6. create factor
         auto prc = shared_from_this();
-        auto ctr = FactorBase::emplace<FactorRangeBearing>(ftr,
+        auto fac = FactorBase::emplace<FactorRangeBearing>(ftr,
                                                            capture_rb,
                                                            ftr,
                                                            lmk,