Resolve "Work on const / non-const in wolf base classes"

Closes #184 (closed)

src/processor/processor_odom_3D.cpp

@@ -114,16 +114,16 @@ void ProcessorOdom3D::deltaPlusDelta(const Eigen::VectorXs& _delta1, const Eigen
      */
 
     // temporaries
-    Eigen::Matrix3s DR = dq1.matrix();
-    Eigen::Matrix3s dR = dq2.matrix();
+    Eigen::Matrix3s dR1 = dq1.matrix();
+    Eigen::Matrix3s dR2 = dq2.matrix();
 
     // fill Jacobians
     _jacobian1.setIdentity();
-    _jacobian1.block<3, 3>(0, 3) = -DR * skew(dp2); // (Sola 16, ex. B.3.2 and Sec. 7.2.3)
-    _jacobian1.block<3, 3>(3, 3) = dR.transpose(); // (Sola 16, Sec. 7.2.3)
+    _jacobian1.block<3, 3>(0, 3) = -dR1 * skew(dp2); // (Sola 16, ex. B.3.2 and Sec. 7.2.3)
+    _jacobian1.block<3, 3>(3, 3) = dR2.transpose(); // (Sola 16, Sec. 7.2.3)
 
     _jacobian2.setIdentity();
-    _jacobian2.block<3, 3>(0, 0) = DR; // (Sola 16, Sec. 7.2.3)
+    _jacobian2.block<3, 3>(0, 0) = dR1; // (Sola 16, Sec. 7.2.3)
 
     // perform composition here to avoid aliasing problems if _delta1 and _delta_plus_delta share the same storage
     dp_out = dp1 + dq1 * dp2;