From 4ffc3b8be2fa9aa0baeac9a47bacedf50b3dc372 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 8 Aug 2022 15:13:59 +0200
Subject: [PATCH] Remove Preint from type and name strings
---
demos/processor_ft_preint.yaml | 4 ++--
demos/solo_real_povcdl_estimation.cpp | 4 ++--
test/gtest_processor_force_torque.cpp | 4 ++--
3 files changed, 6 insertions(+), 6 deletions(-)
diff --git a/demos/processor_ft_preint.yaml b/demos/processor_ft_preint.yaml
index d9b49d7..e9d8c3b 100644
--- a/demos/processor_ft_preint.yaml
+++ b/demos/processor_ft_preint.yaml
@@ -1,5 +1,5 @@
-type: "ProcessorForceTorquePreint" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-name: "PFTPreint" # This is ignored. The name provided to the SensorFactory prevails
+type: "ProcessorForceTorque" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+name: "PFT" # This is ignored. The name provided to the SensorFactory prevails
time_tolerance: 0.0005 # Time tolerance for joining KFs
unmeasured_perturbation_std: 0.0000000
sensor_ikin_name: "SenIK"
diff --git a/demos/solo_real_povcdl_estimation.cpp b/demos/solo_real_povcdl_estimation.cpp
index f081a39..4c5d6f0 100644
--- a/demos/solo_real_povcdl_estimation.cpp
+++ b/demos/solo_real_povcdl_estimation.cpp
@@ -296,8 +296,8 @@ int main (int argc, char **argv) {
params_sen_ft->dist_traveled = 20000.0;
params_sen_ft->angle_turned = 1000;
params_sen_ft->voting_active = false;
- ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFTPreint", sen_ft, params_sen_ft);
- // ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint.yaml");
+ ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", sen_ft, params_sen_ft);
+ // ProcessorBasePtr proc_ft_base = problem->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint.yaml");
ProcessorForceTorquePtr proc_ftpreint = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
// SENSOR + PROCESSOR POINT FEET NOMOVE
diff --git a/test/gtest_processor_force_torque.cpp b/test/gtest_processor_force_torque.cpp
index ee8d7b9..6747c4a 100644
--- a/test/gtest_processor_force_torque.cpp
+++ b/test/gtest_processor_force_torque.cpp
@@ -150,8 +150,8 @@ public:
params_sen_ft->dist_traveled = 20000.0;
params_sen_ft->angle_turned = 1000;
params_sen_ft->voting_active = true;
- ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFTPreint", sen_ft_, params_sen_ft);
- // ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFTPreint", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
+ ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", sen_ft_, params_sen_ft);
+ // ProcessorBasePtr proc_ft_base = problem_->installProcessor("ProcessorForceTorque", "PFT", "SenFT", bodydynamics_root_dir + "/demos/processor_ft_preint");
proc_ftpreint_ = std::static_pointer_cast<ProcessorForceTorque>(proc_ft_base);
}
--
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