From a803d2d8ba9b6812bbb712b70e5fae73cc5ef40c Mon Sep 17 00:00:00 2001
From: Matteo Pancotti <matteopancotti@Matteos-MacBook-Air.local>
Date: Sun, 9 Feb 2025 03:21:22 +0100
Subject: [PATCH] chage of some names in PropagatorState structure

---
 src/shared/algorithms/Propagator/Propagator.cpp   |  8 ++++----
 src/shared/algorithms/Propagator/PropagatorData.h | 12 ++++++------
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/src/shared/algorithms/Propagator/Propagator.cpp b/src/shared/algorithms/Propagator/Propagator.cpp
index 3df6e642a..3c4c50439 100644
--- a/src/shared/algorithms/Propagator/Propagator.cpp
+++ b/src/shared/algorithms/Propagator/Propagator.cpp
@@ -58,17 +58,17 @@ void Propagator::step()
     {
         // checking that last two states are not propagated
         if(state.nPropagations == 0 && oldState.nPropagations == 0)             
-            state.setAProp((state.getVProp() - oldState.getVProp()) / updatePeriod);
+            state.setAcceleration((state.getVelocity() - oldState.getVelocity()) / updatePeriod);
 
-        state.setVProp((state.getVProp() + state.getAProp()) * updatePeriod);
-        state.setXProp((state.getXProp() + state.getVProp()) * updatePeriod);
+        state.setVelocity((state.getVelocity() + state.getAcceleration()) * updatePeriod);
+        state.setPosition((state.getPosition() + state.getVelocity()) * updatePeriod);
 
         state.nPropagations++;
         state.timestamp = TimestampTimer::getTimestamp();
     }
     else    // Update Position propagating assuming costant velocity
     { 
-    state.setXProp(state.getXProp() + state.getVProp() * updatePeriod);
+    state.setPosition(state.getPosition() + state.getVelocity() * updatePeriod);
     state.nPropagations++;
     state.timestamp = TimestampTimer::getTimestamp();
     }
diff --git a/src/shared/algorithms/Propagator/PropagatorData.h b/src/shared/algorithms/Propagator/PropagatorData.h
index 7422e9919..63389f511 100644
--- a/src/shared/algorithms/Propagator/PropagatorData.h
+++ b/src/shared/algorithms/Propagator/PropagatorData.h
@@ -72,12 +72,12 @@ struct PropagatorState
      *
      * @return Eigen::Vector3f the NED position vector
      */
-    Eigen::Vector3f getXProp() { return Eigen::Vector3f(nas.n, nas.e, nas.d); }
+    Eigen::Vector3f getPosition() { return Eigen::Vector3f(nas.n, nas.e, nas.d); }
 
     /**
      * @brief Setter for the vector of positions NED
      */
-    void setXProp(Eigen::Vector3f xProp)
+    void setPosition(Eigen::Vector3f xProp)
     {
         nas.n = xProp(0);
         nas.e = xProp(1);
@@ -89,7 +89,7 @@ struct PropagatorState
      *
      * @return Eigen::Vector3f the NED velocities vector
      */
-    Eigen::Vector3f getVProp()
+    Eigen::Vector3f getVelocity()
     {
         return Eigen::Vector3f(nas.vn, nas.ve, nas.vd);
     }
@@ -97,7 +97,7 @@ struct PropagatorState
     /**
      * @brief Setter for the vector of velocities NED
      */
-    void setVProp(Eigen::Vector3f vProp)
+    void setVelocity(Eigen::Vector3f vProp)
     {
         nas.vn = vProp(0);
         nas.ve = vProp(1);
@@ -107,7 +107,7 @@ struct PropagatorState
     /**
      * @brief Setter for the vector acceleration
      */
-    void setAProp(Eigen::Vector3f aProp)
+    void setAcceleration(Eigen::Vector3f aProp)
     {
         acceleration = aProp;
     }
@@ -117,7 +117,7 @@ struct PropagatorState
      *
      * @return Eigen::Vector3f acceleration
      */
-    Eigen::Vector3f getAProp() const
+    Eigen::Vector3f getAcceleration() const
     {
         return acceleration;
     }
-- 
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