From 507ff7fae3c993abfdf94da43e555b18fe873c14 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 8 Aug 2022 12:51:21 +0200
Subject: [PATCH] Rename FactorForceTorquePreint --> FactorForceTorque
---
..._torque_preint.h => factor_force_torque.h} | 28 +++++++++----------
.../processor_force_torque_preint.cpp | 6 ++--
2 files changed, 17 insertions(+), 17 deletions(-)
rename include/bodydynamics/factor/{factor_force_torque_preint.h => factor_force_torque.h} (94%)
diff --git a/include/bodydynamics/factor/factor_force_torque_preint.h b/include/bodydynamics/factor/factor_force_torque.h
similarity index 94%
rename from include/bodydynamics/factor/factor_force_torque_preint.h
rename to include/bodydynamics/factor/factor_force_torque.h
index 5e2397e..c991762 100644
--- a/include/bodydynamics/factor/factor_force_torque_preint.h
+++ b/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();
// }
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index 09348f2..57f2e7f 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/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,
--
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