Rename FactorForceTorquePreint --> FactorForceTorque

include/bodydynamics/factor/factor_force_torque_preint.h → include/bodydynamics/factor/factor_force_torque.h

@@ -19,11 +19,11 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef FACTOR_FORCE_TORQUE_PREINT_THETA_H_
-#define FACTOR_FORCE_TORQUE_PREINT_THETA_H_
+#ifndef FACTOR_FORCE_TORQUE_H_
+#define FACTOR_FORCE_TORQUE_H_
 
 //Wolf includes
-#include "bodydynamics/capture/capture_force_torque_preint.h"
+#include "bodydynamics/capture/capture_force_torque.h"
 #include "bodydynamics/feature/feature_force_torque_preint.h"
 #include "bodydynamics/sensor/sensor_force_torque.h"
 #include "core/factor/factor_autodiff.h"
@@ -33,13 +33,13 @@
 
 namespace wolf {
     
-WOLF_PTR_TYPEDEFS(FactorForceTorquePreint);
+WOLF_PTR_TYPEDEFS(FactorForceTorque);
 
 //class
-class FactorForceTorquePreint : public FactorAutodiff<FactorForceTorquePreint, 12, 3,3,3,4,3,6, 3,3,3,4>
+class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 12, 3,3,3,4,3,6, 3,3,3,4>
 {
     public:
-        FactorForceTorquePreint(const FeatureForceTorquePreintPtr& _ftr_ptr,
+        FactorForceTorque(const FeatureForceTorquePreintPtr& _ftr_ptr,
                                 const CaptureForceTorquePtr& _cap_origin_ptr, // gets to bp1, bw1
                                 const ProcessorBasePtr&            _processor_ptr,
                                 const CaptureBasePtr&               _cap_ikin_other,
@@ -47,7 +47,7 @@ class FactorForceTorquePreint : public FactorAutodiff<FactorForceTorquePreint, 1
                                 bool                               _apply_loss_function,
                                 FactorStatus                       _status = FAC_ACTIVE);
 
-        ~FactorForceTorquePreint() override = default;
+        ~FactorForceTorque() override = default;
 
         /** \brief : compute the residual from the state blocks being iterated by the solver.
             -> computes the expected measurement
@@ -128,7 +128,7 @@ class FactorForceTorquePreint : public FactorAutodiff<FactorForceTorquePreint, 1
 
 ///////////////////// IMPLEMENTATION ////////////////////////////
 
-inline FactorForceTorquePreint::FactorForceTorquePreint(
+inline FactorForceTorque::FactorForceTorque(
                             const FeatureForceTorquePreintPtr& _ftr_ptr,
                             const CaptureForceTorquePtr& _cap_origin_ptr,
                             const ProcessorBasePtr&            _processor_ptr,
@@ -136,8 +136,8 @@ inline FactorForceTorquePreint::FactorForceTorquePreint(
                             const CaptureBasePtr&              _cap_gyro_other,
                             bool                               _apply_loss_function,
                             FactorStatus                       _status) :
-                FactorAutodiff<FactorForceTorquePreint, 12, 3,3,3,4,3,6, 3,3,3,4>(
-                        "FactorForceTorquePreint",
+                FactorAutodiff<FactorForceTorque, 12, 3,3,3,4,3,6, 3,3,3,4>(
+                        "FactorForceTorque",
                         TOP_MOTION,
                         _ftr_ptr,
                         _cap_origin_ptr->getFrame(),
@@ -176,7 +176,7 @@ inline FactorForceTorquePreint::FactorForceTorquePreint(
 }
 
 template<typename T>
-inline bool FactorForceTorquePreint::operator ()(const T* const _c1,
+inline bool FactorForceTorque::operator ()(const T* const _c1,
                                                  const T* const _cd1,
                                                  const T* const _Lc1,
                                                  const T* const _q1,
@@ -206,7 +206,7 @@ inline bool FactorForceTorquePreint::operator ()(const T* const _c1,
 }
 
 template<typename D1, typename D2, typename D3, typename D4>
-inline bool FactorForceTorquePreint::residual(const MatrixBase<D1> &     _c1,
+inline bool FactorForceTorque::residual(const MatrixBase<D1> &     _c1,
                                               const MatrixBase<D1> &     _cd1,
                                               const MatrixBase<D1> &     _Lc1,
                                               const QuaternionBase<D2> & _q1,
@@ -305,7 +305,7 @@ inline bool FactorForceTorquePreint::residual(const MatrixBase<D1> &     _c1,
     return true;
 }
 
-// Matrix<double,12,1> FactorForceTorquePreint::residual() const
+// Matrix<double,12,1> FactorForceTorque::residual() const
 // {
 //     Matrix<double,12,1> res;
 
@@ -333,7 +333,7 @@ inline bool FactorForceTorquePreint::residual(const MatrixBase<D1> &     _c1,
 //     return res;
 // }
 
-// double FactorForceTorquePreint::cost() const
+// double FactorForceTorque::cost() const
 // {
 //     Matrix<double,12,1> toto = residual();
 // }

src/processor/processor_force_torque_preint.cpp

@@ -21,10 +21,10 @@
 //--------LICENSE_END--------
 // wolf
 #include "bodydynamics/math/force_torque_delta_tools.h"
-#include "bodydynamics/capture/capture_force_torque_preint.h"
+#include "bodydynamics/capture/capture_force_torque.h"
 #include "bodydynamics/feature/feature_force_torque_preint.h"
 #include "bodydynamics/processor/processor_force_torque_preint.h"
-#include "bodydynamics/factor/factor_force_torque_preint.h"
+#include "bodydynamics/factor/factor_force_torque.h"
 
 namespace wolf {
 
@@ -182,7 +182,7 @@ FactorBasePtr ProcessorForceTorquePreint::emplaceFactor(FeatureBasePtr _feature_
     FeatureForceTorquePreintPtr ftr_ftpreint = std::static_pointer_cast<FeatureForceTorquePreint>(_feature_motion);
     CaptureForceTorquePtr cap_ftpreint_new = std::static_pointer_cast<CaptureForceTorque>(ftr_ftpreint->getCapture());
 
-    auto fac_ftpreint = FactorBase::emplace<FactorForceTorquePreint>(
+    auto fac_ftpreint = FactorBase::emplace<FactorForceTorque>(
             ftr_ftpreint,
             ftr_ftpreint,
             cap_ftpreint_origin,