Rename FeatureForceTorquePreint --> FeatureForceTorque

CMakeLists.txt

@@ -118,7 +118,7 @@ include/${PROJECT_NAME}/factor/factor_point_feet_nomove.h
 include/${PROJECT_NAME}/factor/factor_point_feet_altitude.h
   )
 SET(HDRS_FEATURE
-include/${PROJECT_NAME}/feature/feature_force_torque_preint.h
+include/${PROJECT_NAME}/feature/feature_force_torque.h
 include/${PROJECT_NAME}/feature/feature_inertial_kinematics.h
   )
 SET(HDRS_PROCESSOR
@@ -144,7 +144,7 @@ src/capture/capture_leg_odom.cpp
 src/capture/capture_point_feet_nomove.cpp
 )
 SET(SRCS_FEATURE
-src/feature/feature_force_torque_preint.cpp
+src/feature/feature_force_torque.cpp
 src/feature/feature_inertial_kinematics.cpp
 )
 SET(SRCS_PROCESSOR

include/bodydynamics/factor/factor_force_torque.h

@@ -39,7 +39,7 @@ WOLF_PTR_TYPEDEFS(FactorForceTorque);
 class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 12, 3,3,3,4,3,6, 3,3,3,4>
 {
     public:
-        FactorForceTorque(const FeatureForceTorquePreintPtr& _ftr_ptr,
+        FactorForceTorque(const FeatureForceTorquePtr& _ftr_ptr,
                                 const CaptureForceTorquePtr& _cap_origin_ptr, // gets to bp1, bw1
                                 const ProcessorBasePtr&            _processor_ptr,
                                 const CaptureBasePtr&               _cap_ikin_other,
@@ -129,7 +129,7 @@ class FactorForceTorque : public FactorAutodiff<FactorForceTorque, 12, 3,3,3,4,3
 ///////////////////// IMPLEMENTATION ////////////////////////////
 
 inline FactorForceTorque::FactorForceTorque(
-                            const FeatureForceTorquePreintPtr& _ftr_ptr,
+                            const FeatureForceTorquePtr& _ftr_ptr,
                             const CaptureForceTorquePtr& _cap_origin_ptr,
                             const ProcessorBasePtr&            _processor_ptr,
                             const CaptureBasePtr&              _cap_ikin_other,
@@ -162,8 +162,8 @@ inline FactorForceTorque::FactorForceTorque(
         dcd_preint_(_ftr_ptr->getMeasurement().segment<3>(3)),
         dLc_preint_(_ftr_ptr->getMeasurement().segment<3>(6)),
         dq_preint_(_ftr_ptr->getMeasurement().data()+9),
-        pbc_bias_preint_( std::static_pointer_cast<FeatureForceTorquePreint>(_ftr_ptr)->getPbcBiasPreint()),
-        gyro_bias_preint_(std::static_pointer_cast<FeatureForceTorquePreint>(_ftr_ptr)->getGyroBiasPreint()),
+        pbc_bias_preint_( std::static_pointer_cast<FeatureForceTorque>(_ftr_ptr)->getPbcBiasPreint()),
+        gyro_bias_preint_(std::static_pointer_cast<FeatureForceTorque>(_ftr_ptr)->getGyroBiasPreint()),
         J_dLc_pb_(_ftr_ptr->getJacobianBias().block<3,3>(6,0)), // Jac dLc wrt pbc bias
         J_dc_wb_ (_ftr_ptr->getJacobianBias().block<3,3>(0,3)), // Jac dc wrt gyro bias
         J_dcd_wb_(_ftr_ptr->getJacobianBias().block<3,3>(3,3)), // Jac dc wrt gyro bias

include/bodydynamics/feature/feature_force_torque_preint.h → include/bodydynamics/feature/feature_force_torque.h

@@ -19,8 +19,8 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef FEATURE_FORCE_TORQUE_PREINT_H_
-#define FEATURE_FORCE_TORQUE_PREINT_H_
+#ifndef FEATURE_FORCE_TORQUE_H_
+#define FEATURE_FORCE_TORQUE_H_
 
 //Wolf includes
 #include <core/feature/feature_base.h>
@@ -31,9 +31,9 @@
 namespace wolf {
 
 //WOLF_PTR_TYPEDEFS(CaptureImu);
-WOLF_PTR_TYPEDEFS(FeatureForceTorquePreint);
+WOLF_PTR_TYPEDEFS(FeatureForceTorque);
 
-class FeatureForceTorquePreint : public FeatureBase
+class FeatureForceTorque : public FeatureBase
 {
     public:
 
@@ -46,7 +46,7 @@ class FeatureForceTorquePreint : public FeatureBase
          * \param _gyro_bias gyroscope bias of origin frame time
          * \param _cap_ftpreint_ptr pointer to parent CaptureMotion (CaptureForceTorque)
          */
-        FeatureForceTorquePreint(const Eigen::VectorXd& _delta_preintegrated,
+        FeatureForceTorque(const Eigen::VectorXd& _delta_preintegrated,
                                  const Eigen::MatrixXd& _delta_preintegrated_covariance,
                                  const Eigen::Vector6d& _biases_preint,
                                  const Eigen::Matrix<double,12,6>& _J_delta_biases);
@@ -55,9 +55,9 @@ class FeatureForceTorquePreint : public FeatureBase
 //         *
 //         * \param _cap_imu_ptr pointer to parent CaptureMotion
 //         */
-//        FeatureForceTorquePreint(CaptureMotionPtr _cap_imu_ptr);
+//        FeatureForceTorque(CaptureMotionPtr _cap_imu_ptr);
 
-        ~FeatureForceTorquePreint() override = default;
+        ~FeatureForceTorque() override = default;
 
         const Eigen::Vector3d&               getPbcBiasPreint()  const;
         const Eigen::Vector3d&               getGyroBiasPreint() const;
@@ -75,21 +75,21 @@ class FeatureForceTorquePreint : public FeatureBase
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW;
 };
 
-inline const Eigen::Vector3d& FeatureForceTorquePreint::getPbcBiasPreint() const
+inline const Eigen::Vector3d& FeatureForceTorque::getPbcBiasPreint() const
 {
     return pbc_bias_preint_;
 }
 
-inline const Eigen::Vector3d& FeatureForceTorquePreint::getGyroBiasPreint() const
+inline const Eigen::Vector3d& FeatureForceTorque::getGyroBiasPreint() const
 {
     return gyro_bias_preint_;
 }
 
-inline const Eigen::Matrix<double, 12, 6>& FeatureForceTorquePreint::getJacobianBias() const
+inline const Eigen::Matrix<double, 12, 6>& FeatureForceTorque::getJacobianBias() const
 {
     return J_delta_bias_;
 }
 
 } // namespace wolf
 
-#endif // FEATURE_FORCE_TORQUE_PREINT_H_
+#endif // FEATURE_FORCE_TORQUE_H_

src/feature/feature_force_torque_preint.cpp → src/feature/feature_force_torque.cpp

@@ -22,11 +22,11 @@
 #include "bodydynamics/feature/feature_force_torque_preint.h"
 namespace wolf {
 
-FeatureForceTorquePreint::FeatureForceTorquePreint(const Eigen::VectorXd& _delta_preintegrated,
+FeatureForceTorque::FeatureForceTorque(const Eigen::VectorXd& _delta_preintegrated,
                        const Eigen::MatrixXd& _delta_preintegrated_covariance,
                        const Eigen::Vector6d& _biases_preint,
                        const Eigen::Matrix<double,12,6>& _J_delta_biases) :
-    FeatureBase("FeatureForceTorquePreint", _delta_preintegrated, _delta_preintegrated_covariance),
+    FeatureBase("FeatureForceTorque", _delta_preintegrated, _delta_preintegrated_covariance),
     pbc_bias_preint_(_biases_preint.head<3>()),
     gyro_bias_preint_(_biases_preint.tail<3>()),
     J_delta_bias_(_J_delta_biases)

src/processor/processor_force_torque_preint.cpp

@@ -122,7 +122,7 @@ CaptureMotionPtr ProcessorForceTorquePreint::emplaceCapture(const FrameBasePtr&
 FeatureBasePtr ProcessorForceTorquePreint::emplaceFeature(CaptureMotionPtr _capture_motion)
 {
     // Retrieving the origin capture and getting the bias from here should be done here?
-    auto feature = FeatureBase::emplace<FeatureForceTorquePreint>(_capture_motion,
+    auto feature = FeatureBase::emplace<FeatureForceTorque>(_capture_motion,
                                                     _capture_motion->getBuffer().back().delta_integr_,
                                                     _capture_motion->getBuffer().back().delta_integr_cov_ + unmeasured_perturbation_cov_,
                                                     _capture_motion->getCalibrationPreint(),
@@ -179,7 +179,7 @@ void ProcessorForceTorquePreint::setCalibration (const CaptureBasePtr _capture,
 FactorBasePtr ProcessorForceTorquePreint::emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin)
 {
     CaptureForceTorquePtr cap_ftpreint_origin = std::static_pointer_cast<CaptureForceTorque>(_capture_origin);
-    FeatureForceTorquePreintPtr ftr_ftpreint = std::static_pointer_cast<FeatureForceTorquePreint>(_feature_motion);
+    FeatureForceTorquePtr ftr_ftpreint = std::static_pointer_cast<FeatureForceTorque>(_feature_motion);
     CaptureForceTorquePtr cap_ftpreint_new = std::static_pointer_cast<CaptureForceTorque>(ftr_ftpreint->getCapture());
 
     auto fac_ftpreint = FactorBase::emplace<FactorForceTorque>(