Adapt to changes in core #298

include/bodydynamics/processor/processor_force_torque_preint.h

@@ -5,24 +5,24 @@
 #include <core/processor/processor_motion.h>
 
 namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsForceTorquePreint);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorForceTorquePreint);
 
-struct ProcessorParamsForceTorquePreint : public ProcessorParamsMotion
+struct ParamsProcessorForceTorquePreint : public ParamsProcessorMotion
 {
         std::string sensor_ikin_name;
         std::string sensor_angvel_name;
 
-        ProcessorParamsForceTorquePreint() = default;
-        ProcessorParamsForceTorquePreint(std::string _unique_name, const ParamsServer& _server):
-            ProcessorParamsMotion(_unique_name, _server)
+        ParamsProcessorForceTorquePreint() = default;
+        ParamsProcessorForceTorquePreint(std::string _unique_name, const ParamsServer& _server):
+            ParamsProcessorMotion(_unique_name, _server)
         {
             sensor_ikin_name   = _server.getParam<std::string>(_unique_name + "/sensor_ikin_name");
             sensor_angvel_name = _server.getParam<std::string>(_unique_name + "/sensor_angvel_name");
         }
-        virtual ~ProcessorParamsForceTorquePreint() = default;
+        virtual ~ParamsProcessorForceTorquePreint() = default;
         std::string print() const
         {
-            return "\n" + ProcessorParamsMotion::print()                    + "\n"
+            return "\n" + ParamsProcessorMotion::print()                    + "\n"
                     + "sensor_ikin_name: "           + sensor_ikin_name     + "\n"
                     + "sensor_angvel_name: "         + sensor_angvel_name   + "\n";
 
@@ -34,11 +34,11 @@ WOLF_PTR_TYPEDEFS(ProcessorForceTorquePreint);
 //class
 class ProcessorForceTorquePreint : public ProcessorMotion{
     public:
-        ProcessorForceTorquePreint(ProcessorParamsForceTorquePreintPtr _params_motion_force_torque_preint);
+        ProcessorForceTorquePreint(ParamsProcessorForceTorquePreintPtr _params_motion_force_torque_preint);
         virtual ~ProcessorForceTorquePreint();
         virtual void configure(SensorBasePtr _sensor) override;
 
-        WOLF_PROCESSOR_CREATE(ProcessorForceTorquePreint, ProcessorParamsForceTorquePreint);
+        WOLF_PROCESSOR_CREATE(ProcessorForceTorquePreint, ParamsProcessorForceTorquePreint);
 
     protected:
         virtual void computeCurrentDelta(const Eigen::VectorXd& _data,
@@ -77,7 +77,7 @@ class ProcessorForceTorquePreint : public ProcessorMotion{
                                             CaptureBasePtr _capture_origin) override;
 
     protected:
-        ProcessorParamsForceTorquePreintPtr params_motion_force_torque_preint_;
+        ParamsProcessorForceTorquePreintPtr params_motion_force_torque_preint_;
         SensorBasePtr sensor_ikin_;
         SensorBasePtr sensor_angvel_;
 

include/bodydynamics/processor/processor_inertial_kinematics.h

@@ -8,24 +8,24 @@
 #include "bodydynamics/capture/capture_inertial_kinematics.h"
 
 namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsInertialKinematics);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorInertialKinematics);
 
-struct ProcessorParamsInertialKinematics : public ProcessorParamsBase
+struct ParamsProcessorInertialKinematics : public ParamsProcessorBase
 {
     std::string sensor_angvel_name;
     double pb_rate_stdev;
 
-    ProcessorParamsInertialKinematics() = default;
-    ProcessorParamsInertialKinematics(std::string _unique_name, const ParamsServer& _server):
-        ProcessorParamsBase(_unique_name, _server)
+    ParamsProcessorInertialKinematics() = default;
+    ParamsProcessorInertialKinematics(std::string _unique_name, const ParamsServer& _server):
+        ParamsProcessorBase(_unique_name, _server)
     {
         sensor_angvel_name = _server.getParam<std::string>(_unique_name + "/sensor_angvel_name");
         pb_rate_stdev =      _server.getParam<double>(_unique_name + "/pb_rate_stdev");
     }
-    virtual ~ProcessorParamsInertialKinematics() = default;
+    virtual ~ParamsProcessorInertialKinematics() = default;
     std::string print() const
     {
-        return "\n" + ProcessorParamsBase::print() + "\n"
+        return "\n" + ParamsProcessorBase::print() + "\n"
                     + "sensor_angvel_name: "       + sensor_angvel_name            + "\n"
                     + "pb_rate_stdev: "            + std::to_string(pb_rate_stdev) + "\n";
     }
@@ -36,9 +36,9 @@ WOLF_PTR_TYPEDEFS(ProcessorInertialKinematics);
 //class
 class ProcessorInertialKinematics : public ProcessorBase{
     public:
-        ProcessorInertialKinematics(ProcessorParamsInertialKinematicsPtr _params_ikin);
+        ProcessorInertialKinematics(ParamsProcessorInertialKinematicsPtr _params_ikin);
         virtual ~ProcessorInertialKinematics() = default;
-        WOLF_PROCESSOR_CREATE(ProcessorInertialKinematics, ProcessorParamsInertialKinematics);
+        WOLF_PROCESSOR_CREATE(ProcessorInertialKinematics, ParamsProcessorInertialKinematics);
 
         virtual void configure(SensorBasePtr _sensor) override;
 
@@ -53,7 +53,7 @@ class ProcessorInertialKinematics : public ProcessorBase{
         virtual bool voteForKeyFrame() const override;
 
 
-        const ProcessorParamsInertialKinematicsPtr& getParamsIkin() const
+        const ParamsProcessorInertialKinematicsPtr& getParamsIkin() const
         {
             return params_ikin_;
         }
@@ -79,7 +79,7 @@ class ProcessorInertialKinematics : public ProcessorBase{
         }
 
     protected:
-        ProcessorParamsInertialKinematicsPtr params_ikin_;
+        ParamsProcessorInertialKinematicsPtr params_ikin_;
         ProcessorInertialKinematicsPtr proc_ikin_;
         ProcessorMotionPtr proc_motion_;
         CaptureBasePtr cap_origin_ptr_;

src/processor/processor_force_torque_preint.cpp

@@ -10,9 +10,9 @@ namespace wolf {
 using namespace Eigen;
 
 
-ProcessorForceTorquePreint::ProcessorForceTorquePreint(ProcessorParamsForceTorquePreintPtr _params_motion_force_torque_preint) :
+ProcessorForceTorquePreint::ProcessorForceTorquePreint(ParamsProcessorForceTorquePreintPtr _params_motion_force_torque_preint) :
         ProcessorMotion("ProcessorForceTorquePreint", "CDLO", 3, 13, 13, 12, 32, 6, _params_motion_force_torque_preint),
-        params_motion_force_torque_preint_(std::make_shared<ProcessorParamsForceTorquePreint>(*_params_motion_force_torque_preint))
+        params_motion_force_torque_preint_(std::make_shared<ParamsProcessorForceTorquePreint>(*_params_motion_force_torque_preint))
 {
     // Set constant parts of Jacobians
     jacobian_delta_preint_.setIdentity(12,12);  // delta composition / CURRENT delta
@@ -184,8 +184,8 @@ void ProcessorForceTorquePreint::deltaPlusDelta(const Eigen::VectorXd& _delta_pr
 
 } // namespace wolf
 
-// Register in the SensorFactory
-#include "core/processor/processor_factory.h"
+// Register in the FactorySensor
+#include "core/processor/factory_processor.h"
 
 namespace wolf
 {

src/processor/processor_inertial_kinematics.cpp

@@ -18,9 +18,9 @@
 namespace wolf{
 
 
-inline ProcessorInertialKinematics::ProcessorInertialKinematics(ProcessorParamsInertialKinematicsPtr _params_ikin) :
+inline ProcessorInertialKinematics::ProcessorInertialKinematics(ParamsProcessorInertialKinematicsPtr _params_ikin) :
         ProcessorBase("ProcessorInertialKinematics", 3, _params_ikin),
-        params_ikin_(std::make_shared<ProcessorParamsInertialKinematics>(*_params_ikin)),
+        params_ikin_(std::make_shared<ParamsProcessorInertialKinematics>(*_params_ikin)),
         cap_origin_ptr_(nullptr)
 {
 }
@@ -199,8 +199,8 @@ Eigen::Matrix9d computeIKinCov(const Eigen::Matrix3d& Qp,
 
 } /* namespace wolf */
 
-// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+// Register in the FactoryProcessor
+#include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorInertialKinematics", ProcessorInertialKinematics);
 WOLF_REGISTER_PROCESSOR_AUTO("ProcessorInertialKinematics", ProcessorInertialKinematics);

src/sensor/sensor_force_torque.cpp

@@ -32,8 +32,8 @@ SensorForceTorque::SensorForceTorque(const Eigen::VectorXd& _extrinsics, ParamsS
 
 } // namespace wolf
 
-// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+// Register in the FactorySensor
+#include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorForceTorque", SensorForceTorque)
 } // namespace wolf

src/sensor/sensor_inertial_kinematics.cpp

@@ -28,8 +28,8 @@ SensorInertialKinematics::~SensorInertialKinematics()
 
 } // namespace wolf
 
-// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+// Register in the FactorySensor
+#include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorInertialKinematics", SensorInertialKinematics)
 } // namespace wolf

test/gtest_feature_force_torque_preint_WIP.cpp

@@ -41,7 +41,7 @@ class FeatureForceTorquePreint_test : public testing::Test
         ForceTorque_extrinsics << 0,0,0, 0,0,0,1;
         ParamsSensorForceTorquePreintPtr sen_imu_params = std::make_shared<ParamsSensorForceTorquePreint>();
         SensorBasePtr sensor_ptr = problem_->installSensor("SensorForceTorquePreint", "Main FTPreint", ForceTorque_extrinsics, sen_imu_params);
-        ProcessorParamsForceTorquePreintPtr prc_imu_params = std::make_shared<ProcessorParamsForceTorquePreint>();
+        ParamsProcessorForceTorquePreintPtr prc_imu_params = std::make_shared<ParamsProcessorForceTorquePreint>();
         prc_imu_params->max_time_span   = 0.5;
         prc_imu_params->max_buff_length = 10;
         processor_ptr_ = problem_->installProcessor("ProcessorForceTorquePreint", "FT pre-integrator", sensor_ptr, prc_imu_params);

test/gtest_processor_force_torque_preint.cpp

@@ -97,7 +97,7 @@ public:
         // SensorBasePtr sen_ikin_base = problem_->installSensor("SensorInertialKinematics", "SenIK", extr,  bodydynamics_root_dir + "/demos/sensor_inertial_kinematics.yaml");  // TODO: does not work!
         sen_ikin_ = std::static_pointer_cast<SensorInertialKinematics>(sen_ikin_base);
 
-        ProcessorParamsInertialKinematicsPtr params_ik = std::make_shared<ProcessorParamsInertialKinematics>();
+        ParamsProcessorInertialKinematicsPtr params_ik = std::make_shared<ParamsProcessorInertialKinematics>();
         params_ik->sensor_angvel_name = "SenImu";
         params_ik->pb_rate_stdev = 1e-2;
         ProcessorBasePtr proc_ikin_base = problem_->installProcessor("ProcessorInertialKinematics", "PInertialKinematics", sen_ikin_, params_ik);
@@ -118,7 +118,7 @@ public:
         SensorBasePtr sen_ft_base = problem_->installSensor("SensorForceTorque", "SenFT", VectorXd(0), intr_ft);
         // SensorBasePtr sen_ft_base = problem_->installSensor("SensorForceTorque", "SenFT", VectorXd(0), bodydynamics_root_dir + "/demos/sensor_ft.yaml");
         sen_ft_ = std::static_pointer_cast<SensorForceTorque>(sen_ft_base);
-        ProcessorParamsForceTorquePreintPtr params_sen_ft = std::make_shared<ProcessorParamsForceTorquePreint>();
+        ParamsProcessorForceTorquePreintPtr params_sen_ft = std::make_shared<ParamsProcessorForceTorquePreint>();
         params_sen_ft->sensor_ikin_name = "SenIK";
         params_sen_ft->sensor_angvel_name = "SenImu";
         params_sen_ft->time_tolerance = 0.25;

test/gtest_processor_inertial_kinematics.cpp

@@ -90,7 +90,7 @@ class FactorInertialKinematics_2KF : public testing::Test
 
 
 
-        ProcessorParamsInertialKinematicsPtr params_ik = std::make_shared<ProcessorParamsInertialKinematics>();
+        ParamsProcessorInertialKinematicsPtr params_ik = std::make_shared<ParamsProcessorInertialKinematics>();
         params_ik->sensor_angvel_name = "SenImu";
         params_ik->pb_rate_stdev = 0.01;
         ProcessorBasePtr proc_ikin_base = problem_->installProcessor("ProcessorInertialKinematics", "PInertialKinematics", sen_ikin_, params_ik);