Improve some doc and warn messages

src/processor/processor_motion.cpp

@@ -194,7 +194,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
     if (keyframe_from_callback)
         buffer_frame_.removeUpTo( keyframe_from_callback->getTimeStamp() );
     
-    switch(processing_step_)
+    switch(processing_step_) // Things to do before integrating motion data
     {
         case FIRST_TIME_WITHOUT_KF :
         {
@@ -229,14 +229,14 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
     }
 
 
-    // integrate data
+    // integrate motion data
     // Done at this place because setPrior() needs 
     integrateOneStep();
 
     // perform bootstrap steps (usually only IMU requires this)
     if (bootstrapping_) bootstrap();
 
-    switch (processing_step_)
+    switch (processing_step_) // Things to do after integrating motion data
     {
         case RUNNING_WITH_KF_BEFORE_ORIGIN :
         {
@@ -272,11 +272,11 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
             TimeStamp timestamp_from_callback = keyframe_from_callback->getTimeStamp();
 
             // find the capture whose buffer is affected by the new keyframe
-            auto capture_existing   = findCaptureContainingTimeStamp(timestamp_from_callback); // k
+            auto capture_existing   = findCaptureContainingTimeStamp(timestamp_from_callback); 
 
             if (!capture_existing)
             {
-                WOLF_WARN("A KF before first motion capture (TS = ", timestamp_from_callback, "). ProcessorMotion cannot do anything.");
+                WOLF_WARN(getName(), ": Cannot join KF. The received KF (TS = ", timestamp_from_callback, ") is older than the first motion capture.");
                 break;
             }