Small changes

Author: Alberto Pretto

src/calibration.cpp

@@ -104,7 +104,7 @@ template <typename _T1> struct MultiPosGyroResidual
     Eigen::Matrix< _T2, 3 , 3> rot_mat;
     integrateGyroInterval( calib_gyro_samples, rot_mat, _T2(dt_) );
 
-    Eigen::Matrix< _T2, 3 , 1> diff = rot_mat.inverse()*g_versor_pos0_.template cast<_T2>() - 
+    Eigen::Matrix< _T2, 3 , 1> diff = rot_mat.transpose()*g_versor_pos0_.template cast<_T2>() -
                                       g_versor_pos1_.template cast<_T2>();
 
     residuals[0] = diff(0);

src/io_utils.cpp

@@ -1,26 +1,26 @@
-/* 
+/*
  * imu_tk - Inertial Measurement Unit Toolkit
- * 
+ *
  *  Copyright (c) 2014, Alberto Pretto <pretto@diag.uniroma1.it>
  *  All rights reserved.
  *
  *  Redistribution and use in source and binary forms, with or without
  *  modification, are permitted provided that the following conditions are met:
- * 
+ *
  *  1. Redistributions of source code must retain the above copyright notice,
  *     this list of conditions and the following disclaimer.
  *  2. Redistributions in binary form must reproduce the above copyright notice,
  *     this list of conditions and the following disclaimer in the documentation
  *     and/or other materials provided with the distribution.
- * 
- *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
  *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
+ *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
  *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
+ *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
  *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
@@ -33,6 +33,8 @@
 #include <string>
 #include <cstdio>
 
+// TODO Add setlocale()
+
 using namespace std;
 
 template <typename _T>