[Refactor] Renaming of existing variables to adhere to code guidelines

Author: JulianHammerl

src/fswAlgorithms/opticalNavigation/cobConverter/cobConverter.cpp

@@ -138,21 +138,21 @@ void CobConverter::UpdateState(uint64_t CurrentSimNanos)
         centerOfMass[2] = 1.0;
 
         /*! - Get the heading in the image plane */
-        Eigen::Vector3d rhat_COB_C = cameraCalibrationMatrixInverse * centerOfBrightness;
-        Eigen::Vector3d rhat_COM_C = cameraCalibrationMatrixInverse * centerOfMass;
+        Eigen::Vector3d rhatCOB_C = cameraCalibrationMatrixInverse * centerOfBrightness;
+        Eigen::Vector3d rhatCOM_C = cameraCalibrationMatrixInverse * centerOfMass;
 
         /*! - Retrieve the vector from target to camera and normalize */
-        rhat_COB_C *= - 1;
-        double rhatCOBNorm = rhat_COB_C.norm();
-        rhat_COB_C.normalize();
-        rhat_COM_C *= - 1;
-        rhat_COM_C.normalize();
+        rhatCOB_C *= - 1;
+        double rhatCOBNorm = rhatCOB_C.norm();
+        rhatCOB_C.normalize();
+        rhatCOM_C *= - 1;
+        rhatCOM_C.normalize();
 
         /*! - Rotate the vector into frames of interest */
-        Eigen::Vector3d rhat_COB_N = dcm_NC * rhat_COB_C;
-        Eigen::Vector3d rhat_COB_B = dcm_CB.transpose() * rhat_COB_C;
-        Eigen::Vector3d rhat_COM_N = dcm_NC * rhat_COM_C;
-        Eigen::Vector3d rhat_COM_B = dcm_CB.transpose() * rhat_COM_C;
+        Eigen::Vector3d rhatCOB_N = dcm_NC * rhatCOB_C;
+        Eigen::Vector3d rhatCOB_B = dcm_CB.transpose() * rhatCOB_C;
+        Eigen::Vector3d rhatCOM_N = dcm_NC * rhatCOM_C;
+        Eigen::Vector3d rhatCOM_B = dcm_CB.transpose() * rhatCOM_C;
 
         /*! - define diagonal terms of the COB covariance */
         Eigen::Matrix3d covarCob_C;
@@ -174,18 +174,18 @@ void CobConverter::UpdateState(uint64_t CurrentSimNanos)
         eigenMatrix3d2CArray(covar_N, uVecCOBMsgBuffer.covar_N);
         eigenMatrix3d2CArray(covar_C, uVecCOBMsgBuffer.covar_C);
         eigenMatrix3d2CArray(covar_B, uVecCOBMsgBuffer.covar_B);
-        eigenVector3d2CArray(rhat_COB_N, uVecCOBMsgBuffer.rhat_BN_N);
-        eigenVector3d2CArray(rhat_COB_C, uVecCOBMsgBuffer.rhat_BN_C);
-        eigenVector3d2CArray(rhat_COB_B, uVecCOBMsgBuffer.rhat_BN_B);
+        eigenVector3d2CArray(rhatCOB_N, uVecCOBMsgBuffer.rhat_BN_N);
+        eigenVector3d2CArray(rhatCOB_C, uVecCOBMsgBuffer.rhat_BN_C);
+        eigenVector3d2CArray(rhatCOB_B, uVecCOBMsgBuffer.rhat_BN_B);
         uVecCOBMsgBuffer.timeTag = (double) cobMsgBuffer.timeTag * NANO2SEC;
         uVecCOBMsgBuffer.valid = true;
 
         eigenMatrix3d2CArray(covar_N, uVecCOMMsgBuffer.covar_N);
         eigenMatrix3d2CArray(covar_C, uVecCOMMsgBuffer.covar_C);
         eigenMatrix3d2CArray(covar_B, uVecCOMMsgBuffer.covar_B);
-        eigenVector3d2CArray(rhat_COM_N, uVecCOMMsgBuffer.rhat_BN_N);
-        eigenVector3d2CArray(rhat_COM_C, uVecCOMMsgBuffer.rhat_BN_C);
-        eigenVector3d2CArray(rhat_COM_B, uVecCOMMsgBuffer.rhat_BN_B);
+        eigenVector3d2CArray(rhatCOM_N, uVecCOMMsgBuffer.rhat_BN_N);
+        eigenVector3d2CArray(rhatCOM_C, uVecCOMMsgBuffer.rhat_BN_C);
+        eigenVector3d2CArray(rhatCOM_B, uVecCOMMsgBuffer.rhat_BN_B);
         uVecCOMMsgBuffer.timeTag = (double) cobMsgBuffer.timeTag * NANO2SEC;
         uVecCOMMsgBuffer.valid = validCOM;