From 4ee6824c45bce485ec2918db843c1a3f2029a635 Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Tue, 25 Jul 2023 14:11:10 +0200
Subject: [PATCH] [skip ci] renamings of imu plugin
---
demos/processor_imu_solo12.yaml | 2 +-
demos/solo_imu_kine.cpp | 4 ++--
demos/solo_imu_kine_mocap.cpp | 2 +-
demos/solo_imu_mocap.cpp | 4 ++--
demos/solo_kine_mocap.cpp | 2 +-
demos/solo_real_povcdl_estimation.cpp | 2 +-
include/bodydynamics/factor/factor_force_torque_preint.h | 2 +-
include/bodydynamics/math/force_torque_delta_tools.h | 2 +-
test/gtest_factor_force_torque.cpp | 2 +-
test/gtest_factor_inertial_kinematics.cpp | 2 +-
test/gtest_processor_force_torque_preint.cpp | 2 +-
test/gtest_processor_inertial_kinematics.cpp | 2 +-
12 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/demos/processor_imu_solo12.yaml b/demos/processor_imu_solo12.yaml
index 14964b2..e55d154 100644
--- a/demos/processor_imu_solo12.yaml
+++ b/demos/processor_imu_solo12.yaml
@@ -6,5 +6,5 @@ keyframe_vote:
voting_active: true
name: Main imu
time_tolerance: 0.0005
-type: ProcessorImu
+type: ProcessorImu3d
unmeasured_perturbation_std: 1.0e-06
diff --git a/demos/solo_imu_kine.cpp b/demos/solo_imu_kine.cpp
index e3dd1a8..47b072d 100644
--- a/demos/solo_imu_kine.cpp
+++ b/demos/solo_imu_kine.cpp
@@ -59,7 +59,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
#include "imu/factor/factor_imu.h"
// BODYDYNAMICS
@@ -93,7 +93,7 @@ void printFactorCosts(FrameBasePtr kf_last){
int nb_max_fact_ptf = 4;
int nb = 0;
for (auto f: kf_last->getFactorList()){
- auto fimu = std::dynamic_pointer_cast<FactorImu>(f);
+ auto fimu = std::dynamic_pointer_cast<FactorImu3d>(f);
if (fimu){
std::cout << std::setprecision(12) << " C_IMU " << sqrt(fimu->cost()) << std::endl;
}
diff --git a/demos/solo_imu_kine_mocap.cpp b/demos/solo_imu_kine_mocap.cpp
index ccee008..bc400c3 100644
--- a/demos/solo_imu_kine_mocap.cpp
+++ b/demos/solo_imu_kine_mocap.cpp
@@ -59,7 +59,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
#include "imu/factor/factor_imu.h"
// BODYDYNAMICS
diff --git a/demos/solo_imu_mocap.cpp b/demos/solo_imu_mocap.cpp
index a8f3934..9092155 100644
--- a/demos/solo_imu_mocap.cpp
+++ b/demos/solo_imu_mocap.cpp
@@ -59,7 +59,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
#include "imu/factor/factor_imu.h"
// BODYDYNAMICS
@@ -562,7 +562,7 @@ int main (int argc, char **argv) {
Vector6d pose_err = Vector6d::Zero();
for (auto fac: fac_lst){
if (fac->getProcessor() == proc_imu){
- auto f = std::dynamic_pointer_cast<FactorImu>(fac);
+ auto f = std::dynamic_pointer_cast<FactorImu3d>(fac);
if (f){
imu_err = f->error();
}
diff --git a/demos/solo_kine_mocap.cpp b/demos/solo_kine_mocap.cpp
index 40d4aa2..346bf88 100644
--- a/demos/solo_kine_mocap.cpp
+++ b/demos/solo_kine_mocap.cpp
@@ -59,7 +59,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
#include "imu/factor/factor_imu.h"
// BODYDYNAMICS
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index 08d0d96..a29f965 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -50,7 +50,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
// BODYDYNAMICS
#include "bodydynamics/internal/config.h"
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque_preint.h
index 7b2f18a..52d3fec 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/include/bodydynamics/factor/factor_force_torque_preint.h
@@ -225,7 +225,7 @@ inline bool FactorForceTorquePreint::residual(const MatrixBase<D1> & _c1,
* b* : a bias
* J* : a Jacobian matrix
*
- * We use the following functions from imu_tools.h:
+ * We use the following functions from imu_3d_tools.h:
* D = betweenStates(x1,x2,dt) : obtain a Delta from two states separated dt=t2-t1
* D2 = plus(D1,T) : plus operator, D2 = D1 (+) T
* T = diff(D1,D2) : minus operator, T = D2 (-) D1
diff --git a/include/bodydynamics/math/force_torque_delta_tools.h b/include/bodydynamics/math/force_torque_delta_tools.h
index 02589cd..f9aec8e 100644
--- a/include/bodydynamics/math/force_torque_delta_tools.h
+++ b/include/bodydynamics/math/force_torque_delta_tools.h
@@ -18,7 +18,7 @@
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
/*
- * imu_tools.h
+ * imu_3d_tools.h
*
* Created on: Feb 17, 2020
* Author: mfourmy
diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp
index 2953dcb..c9be8d8 100644
--- a/test/gtest_factor_force_torque.cpp
+++ b/test/gtest_factor_force_torque.cpp
@@ -51,7 +51,7 @@ FactorInertialKinematics_2KF_1v_bfix,ZeroMvt:
// Imu
// #include "imu/internal/config.h"
// #include "imu/capture/capture_imu.h"
-// #include "imu/processor/processor_imu.h"
+// #include "imu/processor/processor_imu_3d.h"
// #include "imu/sensor/sensor_imu.h"
// BODYDYNAMICS
diff --git a/test/gtest_factor_inertial_kinematics.cpp b/test/gtest_factor_inertial_kinematics.cpp
index fbe458e..7736791 100644
--- a/test/gtest_factor_inertial_kinematics.cpp
+++ b/test/gtest_factor_inertial_kinematics.cpp
@@ -51,7 +51,7 @@ FactorInertialKinematics_1KF_1v_bfix,ZeroMvt:
// Imu
//#include "imu/internal/config.h"
//#include "imu/capture/capture_imu.h"
-//#include "imu/processor/processor_imu.h"
+//#include "imu/processor/processor_imu_3d.h"
//#include "imu/sensor/sensor_imu.h"
// BODYDYNAMICS
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index a5310ae..0fb5a73 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/test/gtest_processor_force_torque_preint.cpp
@@ -41,7 +41,7 @@
// IMU
#include "imu/sensor/sensor_imu.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
// BODYDYNAMICS
#include "bodydynamics/internal/config.h"
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 1fd6469..76166ed 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/test/gtest_processor_inertial_kinematics.cpp
@@ -37,7 +37,7 @@
// Imu
#include "imu/internal/config.h"
#include "imu/capture/capture_imu.h"
-#include "imu/processor/processor_imu.h"
+#include "imu/processor/processor_imu_3d.h"
#include "imu/sensor/sensor_imu.h"
// BODYDYNAMICS
--
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