fix indentation + credits

include/rf2o_laser_odometry/CLaserOdometry2D.h

@@ -11,6 +11,8 @@
 *
 * Maintainer: Javier G. Monroy
 * MAPIR group: http://mapir.isa.uma.es/
+*
+* Modifications: Jeremie Deray
 ******************************************************************************************** */
 
 #ifndef CLaserOdometry2D_H
@@ -158,7 +160,6 @@ protected:
   std::vector<double> last_m_lin_speeds;
   std::vector<double> last_m_ang_speeds;
 
-
   // Methods
   void createImagePyramid();
   void calculateCoord();

src/CLaserOdometry2D.cpp

@@ -11,6 +11,8 @@
 *
 * Maintainer: Javier G. Monroy
 * MAPIR group: http://mapir.isa.uma.es/
+*
+* Modifications: Jeremie Deray
 ******************************************************************************************** */
 
 #include "rf2o_laser_odometry/CLaserOdometry2D.h"
@@ -234,7 +236,6 @@ bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
   return true;
 }
 
-
 void CLaserOdometry2D::createImagePyramid()
 {
   const float max_range_dif = 0.3f;
@@ -405,8 +406,6 @@ void CLaserOdometry2D::createImagePyramid()
   }
 }
 
-
-
 void CLaserOdometry2D::calculateCoord()
 {
   for (unsigned int u = 0; u < cols_i; u++)
@@ -426,7 +425,6 @@ void CLaserOdometry2D::calculateCoord()
   }
 }
 
-
 void CLaserOdometry2D::calculaterangeDerivativesSurface()
 {
   //The gradient size ir reserved at the maximum size (at the constructor)
@@ -485,7 +483,6 @@ void CLaserOdometry2D::calculaterangeDerivativesSurface()
   //dtmed.swap(dt);
 }
 
-
 void CLaserOdometry2D::computeNormals()
 {
   normx.setConstant(1, cols, 0.f);
@@ -513,7 +510,6 @@ void CLaserOdometry2D::computeNormals()
   }
 }
 
-
 void CLaserOdometry2D::computeWeights()
 {
   //The maximum weight size is reserved at the constructor
@@ -546,7 +542,6 @@ void CLaserOdometry2D::computeWeights()
   weights = inv_max*weights;
 }
 
-
 void CLaserOdometry2D::findNullPoints()
 {
   //Size of null matrix is set to its maximum size (constructor)
@@ -564,7 +559,6 @@ void CLaserOdometry2D::findNullPoints()
   }
 }
 
-
 // Solves the system without considering any robust-function
 void CLaserOdometry2D::solveSystemOneLevel()
 {
@@ -607,7 +601,6 @@ void CLaserOdometry2D::solveSystemOneLevel()
   kai_loc_level_ = Var;
 }
 
-
 // Solves the system by considering the Cauchy M-estimator robust-function
 void CLaserOdometry2D::solveSystemNonLinear()
 {
@@ -657,7 +650,7 @@ void CLaserOdometry2D::solveSystemNonLinear()
       aver_res += std::abs(res(ind++));
     }
   aver_dt /= cont; aver_res /= cont;
-//    printf("\n Aver dt = %f, aver res = %f", aver_dt, aver_res);
+  //    printf("\n Aver dt = %f, aver res = %f", aver_dt, aver_res);
 
 
   const float k = 10.f/aver_dt; //200
@@ -716,7 +709,6 @@ void CLaserOdometry2D::Reset(const Pose3d& ini_pose/*, CObservation2DRangeScan s
   createImagePyramid();
 }
 
-
 void CLaserOdometry2D::performWarping()
 {
   Eigen::Matrix3f acu_trans;
@@ -792,10 +784,6 @@ void CLaserOdometry2D::performWarping()
   }
 }
 
-
-
-
-
 void CLaserOdometry2D::filterLevelSolution()
 {
   //		Calculate Eigenvalues and Eigenvectors
@@ -864,7 +852,6 @@ void CLaserOdometry2D::filterLevelSolution()
   transformations[level](1,2) = incry;
 }
 
-
 void CLaserOdometry2D::PoseUpdate()
 {
   //First, compute the overall transformation
@@ -898,7 +885,7 @@ void CLaserOdometry2D::PoseUpdate()
   //-------------------------------------------------------
   laser_oldpose_ = laser_pose_;
 
-//  Eigen::Matrix3f aux_acu = acu_trans;
+  //  Eigen::Matrix3f aux_acu = acu_trans;
   Pose3d pose_aux_2D = Pose3d::Identity();
 
   pose_aux_2D = rf2o::matrixYaw(double(kai_loc_(2)/fps));

src/CLaserOdometry2DNode.cpp

@@ -11,6 +11,8 @@
 *
 * Maintainer: Javier G. Monroy
 * MAPIR group: http://mapir.isa.uma.es/
+*
+* Modifications: Jeremie Deray
 ******************************************************************************************** */
 
 #include "rf2o_laser_odometry/CLaserOdometry2D.h"