diff --git a/include/bodydynamics/processor/processor_force_torque_preint.h b/include/bodydynamics/processor/processor_force_torque_preint.h
index fe80c33359f42ae0c58f0854f8ee512e43c2c895..2b54d2b1214bb5366a3dd860e4ef776adb99ba74 100644
--- a/include/bodydynamics/processor/processor_force_torque_preint.h
+++ b/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_;
diff --git a/include/bodydynamics/processor/processor_inertial_kinematics.h b/include/bodydynamics/processor/processor_inertial_kinematics.h
index 0b8f352b39e5ca92d12f90de896caa8f2d6f69cf..a538c49f608a336704736161eac5df773156da74 100644
--- a/include/bodydynamics/processor/processor_inertial_kinematics.h
+++ b/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_;
diff --git a/src/processor/processor_force_torque_preint.cpp b/src/processor/processor_force_torque_preint.cpp
index e38f4479a3a8a848e2b3a009d8e6b0115a833699..fe220fe636e050cf37be3e943a235fb30dc2d644 100644
--- a/src/processor/processor_force_torque_preint.cpp
+++ b/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
{
diff --git a/src/processor/processor_inertial_kinematics.cpp b/src/processor/processor_inertial_kinematics.cpp
index 5c9fe32d0abcd50e89d645a5bfda09aa38ce77f7..4a101664ada3cceb04f2026654fdc627be8f7cb1 100644
--- a/src/processor/processor_inertial_kinematics.cpp
+++ b/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);
diff --git a/src/sensor/sensor_force_torque.cpp b/src/sensor/sensor_force_torque.cpp
index 37bcb20a11208bcc446cba182a64b43baff47697..7a60785b494077b60400502a620a91ec9d295789 100644
--- a/src/sensor/sensor_force_torque.cpp
+++ b/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
diff --git a/src/sensor/sensor_inertial_kinematics.cpp b/src/sensor/sensor_inertial_kinematics.cpp
index f27c0e7b2a2c9b9bb43017e2a9bdb4fd2c0cf398..e9cb2e7ac9b485cb2fcfc84be94aa063d89af908 100644
--- a/src/sensor/sensor_inertial_kinematics.cpp
+++ b/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
diff --git a/test/gtest_feature_force_torque_preint_WIP.cpp b/test/gtest_feature_force_torque_preint_WIP.cpp
index 5051227e7839c04c241f60c1bf00669bd6e23aa9..ded39697c8fab65b5e0cbdeab6dab7a1b6408a9c 100644
--- a/test/gtest_feature_force_torque_preint_WIP.cpp
+++ b/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);
diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp
index 5b7ce5ed0b124a0e648b4c8e7e88b0b44a669584..da8bfeb01d4fee99b029b0ca79bab23f032b9678 100644
--- a/test/gtest_processor_force_torque_preint.cpp
+++ b/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;
diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp
index 6992157b53f1a1dad1884cd2078280b4516534ef..7195fb6ba309f3685d6821cd6f9434b05070345e 100644
--- a/test/gtest_processor_inertial_kinematics.cpp
+++ b/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);