From b1cac066df46d769cf5c57da683f10b6f4238ef2 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Mon, 15 Feb 2021 14:07:16 +0100
Subject: [PATCH] changed function convert2LaserScanFALKO to loopClosureFalko

---
 src/loop_closure_base_2d.cpp        | 7 +------
 src/loop_closure_base_2d.h          | 5 -----
 src/loop_closure_falko.cpp          | 8 ++++++++
 src/loop_closure_falko.h            | 4 ++++
 test/gtest_loop_closure_base_2d.cpp | 6 +++---
 5 files changed, 16 insertions(+), 14 deletions(-)

diff --git a/src/loop_closure_base_2d.cpp b/src/loop_closure_base_2d.cpp
index aae465d..5274d20 100644
--- a/src/loop_closure_base_2d.cpp
+++ b/src/loop_closure_base_2d.cpp
@@ -19,12 +19,7 @@ namespace laserscanutils{
         return NewScene;
     }
 */
-    std::shared_ptr<falkolib::LaserScan> loopClosureBase2d::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
-        auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
-        std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
-        ((*scanFALKO).fromRanges)(doubleRanges);
-        return scanFALKO;
-    }
+
 
     //void findLoopClosure(std::list<cornerScene>& scenes, const cornerScene newScene){}
 
diff --git a/src/loop_closure_base_2d.h b/src/loop_closure_base_2d.h
index 97965a4..cc50265 100644
--- a/src/loop_closure_base_2d.h
+++ b/src/loop_closure_base_2d.h
@@ -59,11 +59,6 @@ public:
      **/
     virtual std::shared_ptr<sceneFalko<falkolib::BSC>> extractScene(LaserScan &scan,LaserScanParams &scanParams){}
 
-    /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
-     **/
-    std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
-
-
 };
 } /* namespace laserscanutils */
 
diff --git a/src/loop_closure_falko.cpp b/src/loop_closure_falko.cpp
index dadc9a1..6bb979f 100644
--- a/src/loop_closure_falko.cpp
+++ b/src/loop_closure_falko.cpp
@@ -36,6 +36,14 @@ namespace laserscanutils{
     template <typename D,typename Extr, typename M>
     loopClosureFalko<D,Extr,M>::~loopClosureFalko(){}
 
+    template <typename D,typename Extr, typename M>
+    std::shared_ptr<falkolib::LaserScan> loopClosureFalko<D,Extr, M>::convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams){
+        auto scanFALKO=std::make_shared<falkolib::LaserScan>(scanParams.angle_min_, scanParams.angle_max_, scan.ranges_raw_.size());
+        std::vector<double> doubleRanges(scan.ranges_raw_.begin(), scan.ranges_raw_.end());
+        ((*scanFALKO).fromRanges)(doubleRanges);
+        return scanFALKO;
+    }
+
     template <typename D,typename Extr, typename M>
     std::shared_ptr<sceneFalko<D>> loopClosureFalko<D,Extr, M>::extractScene(LaserScan &scan,LaserScanParams &scanParams){
         auto newScene=std::make_shared<sceneFalko<D>>();
diff --git a/src/loop_closure_falko.h b/src/loop_closure_falko.h
index e75c91d..620c638 100644
--- a/src/loop_closure_falko.h
+++ b/src/loop_closure_falko.h
@@ -68,6 +68,10 @@ public:
      **/
     std::shared_ptr<sceneFalko<D>> extractScene(LaserScan &scan,LaserScanParams &scanParams) override;
 
+    /** \brief Convert scans from laserscanutils::LaserScan to falkolib::LaserScan object
+     **/
+    std::shared_ptr<falkolib::LaserScan> convert2LaserScanFALKO(LaserScan &scan,LaserScanParams &scanParams);
+
     
 };
 } /* namespace laserscanutils */
diff --git a/test/gtest_loop_closure_base_2d.cpp b/test/gtest_loop_closure_base_2d.cpp
index b343922..e6ee4e1 100644
--- a/test/gtest_loop_closure_base_2d.cpp
+++ b/test/gtest_loop_closure_base_2d.cpp
@@ -36,7 +36,7 @@ TEST(loop_closure_falko, extractScene)
 //  PRINTF("All good at TestTest::DummyTestExample !\n");
 }
 
-TEST(loop_closure_base_2d, convert2laserScanFalko)
+TEST(loop_closure_falko, convert2laserScanFalko)
 {
     int scanSize = 1440;
 
@@ -50,9 +50,9 @@ TEST(loop_closure_base_2d, convert2laserScanFalko)
      scan.ranges_raw_.push_back(testRanges1[i]);
     }
 
-  loopClosureBase2d LCBase;
+  loopClosureFalko<bsc, bscExtractor, NNMatcher> LCFalko;
 
-  std::shared_ptr<falkolib::LaserScan> scanFALKO=LCBase.convert2LaserScanFALKO(scan, laserParams);
+  std::shared_ptr<falkolib::LaserScan> scanFALKO=LCFalko.convert2LaserScanFALKO(scan, laserParams);
 
   int firstPoint = ((*scanFALKO).ranges)[0];
 
-- 
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