Add getters and rename

src/capture_motion.cpp

@@ -38,7 +38,7 @@ CaptureMotion::~CaptureMotion()
 }
 
 
-Eigen::VectorXs CaptureMotion::getDelta(const VectorXs& _calib_current)
+Eigen::VectorXs CaptureMotion::getDeltaCorrected(const VectorXs& _calib_current)
 {
     VectorXs calib_preint   = getCalibrationPreint();
     VectorXs delta_preint   = getBuffer().get().back().delta_integr_;
@@ -48,7 +48,7 @@ Eigen::VectorXs CaptureMotion::getDelta(const VectorXs& _calib_current)
     return delta;
 }
 
-Eigen::VectorXs CaptureMotion::getDelta(const VectorXs& _calib_current, const TimeStamp& _ts)
+Eigen::VectorXs CaptureMotion::getDeltaCorrected(const VectorXs& _calib_current, const TimeStamp& _ts)
 {
     VectorXs calib_preint   = getCalibrationPreint();
     VectorXs delta_preint   = getBuffer().getMotion(_ts).delta_integr_;

src/capture_motion.h

@@ -79,9 +79,13 @@ class CaptureMotion : public CaptureBase
         MatrixXs getJacobianCalib();
         MatrixXs getJacobianCalib(const TimeStamp& _ts);
 
-        // Get delta, corrected for changes on calibration params
-        VectorXs getDelta(const VectorXs& _calib_current);
-        VectorXs getDelta(const VectorXs& _calib_current, const TimeStamp& _ts);
+        // Get delta preintegrated, and corrected for changes on calibration params
+        VectorXs getDeltaCorrected(const VectorXs& _calib_current);
+        VectorXs getDeltaCorrected(const VectorXs& _calib_current, const TimeStamp& _ts);
+        VectorXs getDeltaPreint();
+        VectorXs getDeltaPreint(const TimeStamp& _ts);
+        MatrixXs getDeltaPreintCov();
+        MatrixXs getDeltaPreintCov(const TimeStamp& _ts);
         virtual VectorXs correctDelta(const VectorXs& _delta, const VectorXs& _delta_error);
 
         // Origin frame
@@ -180,6 +184,26 @@ inline void CaptureMotion::setCalibrationPreint(const VectorXs& _calib_preint)
     getBuffer().setCalibrationPreint(_calib_preint);
 }
 
+inline VectorXs CaptureMotion::getDeltaPreint()
+{
+    return getBuffer().get().back().delta_integr_;
+}
+
+inline VectorXs CaptureMotion::getDeltaPreint(const TimeStamp& _ts)
+{
+    return getBuffer().getMotion(_ts).delta_integr_;
+}
+
+inline MatrixXs CaptureMotion::getDeltaPreintCov()
+{
+    return getBuffer().get().back().delta_integr_cov_;
+}
+
+inline MatrixXs CaptureMotion::getDeltaPreintCov(const TimeStamp& _ts)
+{
+    return getBuffer().getMotion(_ts).delta_integr_cov_;
+}
+
 } // namespace wolf
 
 #endif /* SRC_CAPTURE_MOTION_H_ */

src/processor_motion.h

@@ -478,7 +478,7 @@ inline void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
     {
         // We found a CaptureMotion whose buffer contains the time stamp
         VectorXs state_0 = capture_motion->getOriginFramePtr()->getState();
-        VectorXs delta   = capture_motion->getDelta(origin_ptr_->getCalibration(), _ts);
+        VectorXs delta   = capture_motion->getDeltaCorrected(origin_ptr_->getCalibration(), _ts);
         Scalar   dt      = _ts - capture_motion->getBuffer().get().front().ts_;
 
         statePlusDelta(state_0, delta, dt, _x);
@@ -502,7 +502,7 @@ inline Eigen::VectorXs ProcessorMotion::getCurrentState()
 inline void ProcessorMotion::getCurrentState(Eigen::VectorXs& _x)
 {
     Scalar Dt = getCurrentTimeStamp() - origin_ptr_->getTimeStamp();
-    statePlusDelta(origin_ptr_->getFramePtr()->getState(), last_ptr_->getDelta(origin_ptr_->getCalibration()), Dt, _x);
+    statePlusDelta(origin_ptr_->getFramePtr()->getState(), last_ptr_->getDeltaCorrected(origin_ptr_->getCalibration()), Dt, _x);
 }
 
 inline void ProcessorMotion::getCurrentStateAndStamp(Eigen::VectorXs& _x, TimeStamp& _ts)