diff --git a/CMakeLists.txt b/CMakeLists.txt index 5dc146fa31ce8179c45cf0c50eea777f53258c93..022a89eec620212c6bc607a42951910a35e1bb9e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -95,7 +95,7 @@ message("UPPER_NAME ${UPPER_NAME}") #find dependencies. -FIND_PACKAGE(wolf REQUIRED) +FIND_PACKAGE(wolfcore REQUIRED) FIND_PACKAGE(wolfimu REQUIRED) # Define the directory where will be the configured config.h @@ -115,7 +115,7 @@ configure_file(${CMAKE_CURRENT_SOURCE_DIR}/internal/config.h.in "${WOLF_CONFIG_D include_directories("${PROJECT_BINARY_DIR}/conf") include_directories("include") -include_directories(${wolf_INCLUDE_DIRS}) +include_directories(${wolfcore_INCLUDE_DIRS}) INCLUDE_DIRECTORIES(${wolfimu_INCLUDE_DIRS}) #HEADERS @@ -200,7 +200,7 @@ endif() -TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolf_LIBRARIES}) +TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES}) # Link the library with the required dependencies # TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfimu_INCLUDE_DIRS) diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake deleted file mode 100644 index 4ff944f2ffccea98faba230f382774a82f6ff2cc..0000000000000000000000000000000000000000 --- a/cmake_modules/wolfConfig.cmake +++ /dev/null @@ -1,89 +0,0 @@ -#edit the following line to add the librarie's header files -FIND_PATH( - wolfbodydynamics_INCLUDE_DIRS - NAMES bodydynamics.found - PATHS /usr/local/include/iri-algorithms/wolf/plugin_bodydynamics) -IF(wolfbodydynamics_INCLUDE_DIRS) - MESSAGE("Found bodydynamics include dirs: ${wolfbodydynamics_INCLUDE_DIRS}") -ELSE(wolfbodydynamics_INCLUDE_DIRS) - MESSAGE("Couldn't find bodydynamics include dirs") -ENDIF(wolfbodydynamics_INCLUDE_DIRS) - -FIND_LIBRARY( - wolfbodydynamics_LIBRARIES - NAMES libwolfbodydynamics.so libwolfbodydynamics.dylib - PATHS /usr/local/lib/iri-algorithms) -IF(wolfbodydynamics_LIBRARIES) - MESSAGE("Found bodydynamics lib: ${wolfbodydynamics_LIBRARIES}") -ELSE(wolfbodydynamics_LIBRARIES) - MESSAGE("Couldn't find wolf bodydynamics lib") -ENDIF(wolfbodydynamics_LIBRARIES) - -IF (wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES) - SET(wolfbodydynamics_FOUND TRUE) - ELSE(wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES) - set(wolfbodydynamics_FOUND FALSE) -ENDIF (wolfbodydynamics_INCLUDE_DIRS AND wolfbodydynamics_LIBRARIES) - -IF (wolfbodydynamics_FOUND) - IF (NOT wolfbodydynamics_FIND_QUIETLY) - MESSAGE(STATUS "Found bodydynamics: ${wolfbodydynamics_LIBRARIES}") - ENDIF (NOT wolfbodydynamics_FIND_QUIETLY) -ELSE (wolfbodydynamics_FOUND) - IF (wolfbodydynamics_FIND_REQUIRED) - MESSAGE(FATAL_ERROR "Could not find wolf bodydynamics") - ENDIF (wolfbodydynamics_FIND_REQUIRED) -ENDIF (wolfbodydynamics_FOUND) - - -macro(wolf_report_not_found REASON_MSG) - set(wolfbodydynamics_FOUND FALSE) - unset(wolfbodydynamics_INCLUDE_DIRS) - unset(wolfbodydynamics_LIBRARIES) - - # Reset the CMake module path to its state when this script was called. - set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) - - # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by - # FindPackage() use the camelcase library name, not uppercase. - if (wolfbodydynamics_FIND_QUIETLY) - message(STATUS "Failed to find wolfbodydynamics- " ${REASON_MSG} ${ARGN}) - else (wolfbodydynamics_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find wolfbodydynamics - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error - # that prevents generation, but continues configuration. - message(SEND_ERROR "Failed to find wolfbodydynamics - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(wolf_report_not_found) - -if(NOT wolfbodydynamics_FOUND) - wolf_report_not_found("Something went wrong while setting up wolf bodydynamics.") -endif(NOT wolfbodydynamics_FOUND) -# Set the include directories for wolf (itself). -set(wolfbodydynamics_FOUND TRUE) - -# Suppose that our plugin requires openCV & vision_utils - -FIND_PACKAGE(vision_utils REQUIRED) -list(APPEND wolfbodydynamics_INCLUDE_DIRS ${vision_utils_INCLUDE_DIR}) -list(APPEND wolfbodydynamics_LIBRARIES ${vision_utils_LIBRARY}) - -FIND_PACKAGE(OpenCV REQUIRED) -list(APPEND wolfbodydynamics_INCLUDE_DIRS ${OpenCV_INCLUDE_DIRS}) -list(APPEND wolfbodydynamics_LIBRARIES ${OpenCV_LIBS}) - -#Making sure wolf is looked for -if(NOT wolf_FOUND) - FIND_PACKAGE(wolf REQUIRED) - - #We reverse in order to insert at the start - list(REVERSE wolfbodydynamics_INCLUDE_DIRS) - list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolf_INCLUDE_DIRS}) - list(REVERSE wolfbodydynamics_INCLUDE_DIRS) - - list(REVERSE wolfbodydynamics_LIBRARIES) - list(APPEND wolfbodydynamics_LIBRARIES ${wolf_LIBRARIES}) - list(REVERSE wolfbodydynamics_LIBRARIES) -endif() \ No newline at end of file diff --git a/cmake_modules/wolfbodydynamicsConfig.cmake b/cmake_modules/wolfbodydynamicsConfig.cmake index 050a2367341c643d938f88c0ef7438ef7e34a0a9..b7892af3f5a97fde7ce130c0571d340a4929194f 100644 --- a/cmake_modules/wolfbodydynamicsConfig.cmake +++ b/cmake_modules/wolfbodydynamicsConfig.cmake @@ -73,14 +73,14 @@ set(wolfbodydynamics_FOUND TRUE) # Making sure that wolf is always looked for if(NOT wolf_FOUND) - FIND_PACKAGE(wolf REQUIRED) + FIND_PACKAGE(wolfcore REQUIRED) #We reverse in order to insert at the start list(REVERSE wolfbodydynamics_INCLUDE_DIRS) - list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolf_INCLUDE_DIRS}) + list(APPEND wolfbodydynamics_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS}) list(REVERSE wolfbodydynamics_INCLUDE_DIRS) list(REVERSE wolfbodydynamics_LIBRARIES) - list(APPEND wolfbodydynamics_LIBRARIES ${wolf_LIBRARIES}) + list(APPEND wolfbodydynamics_LIBRARIES ${wolfcore_LIBRARIES}) list(REVERSE wolfbodydynamics_LIBRARIES) endif() \ No newline at end of file diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt index 7108b33b0cb7581abcd72bb88231efb2eeb63881..2195b83987881c6e11b180b7b1cb575e30ab4755 100644 --- a/demos/CMakeLists.txt +++ b/demos/CMakeLists.txt @@ -25,7 +25,7 @@ target_compile_definitions(mcapi_povcdl_estimation PRIVATE ${PINOCCHIO_CFLAGS_OT target_link_libraries(mcapi_povcdl_estimation - ${wolf_LIBRARIES} + ${wolfcore_LIBRARIES} ${wolfimu_LIBRARIES} ${PLUGIN_NAME} ${MCAPI_LIBRARIES} diff --git a/test/gtest_factor_force_torque.cpp b/test/gtest_factor_force_torque.cpp index a36fb851d00ff1bd8654ed09e4583c34b7c5d260..d529469ae5a1801ff365149b7c53ce26d3bf13d5 100644 --- a/test/gtest_factor_force_torque.cpp +++ b/test/gtest_factor_force_torque.cpp @@ -151,7 +151,7 @@ void perturbateAllIfUnFixed(const FrameBasePtr& KF) FrameBasePtr createKFWithCDLI(const ProblemPtr& problem, const TimeStamp& t, VectorComposite x_origin, Vector3d c, Vector3d cd, Vector3d Lc, Vector6d bias_imu) { - FrameBasePtr KF = FrameBase::emplace<FrameBase>(problem->getTrajectory(), wolf::KEY, t, "POV", x_origin); + FrameBasePtr KF = FrameBase::emplaceKeyFrame<FrameBase>(problem->getTrajectory(), t, "POV", x_origin); StateBlockPtr sbc = make_shared<StateBlock>(c); KF->addStateBlock('C', sbc, problem); StateBlockPtr sbd = make_shared<StateBlock>(cd); KF->addStateBlock('D', sbd, problem); StateBlockPtr sbL = make_shared<StateBlock>(Lc); KF->addStateBlock('L', sbL, problem); diff --git a/test/gtest_feature_force_torque_preint_WIP.cpp b/test/gtest_feature_force_torque_preint_WIP.cpp index e196ee03554f378fd3e808f32e2e437da073be1e..0b7c24a0dbd989b9f003b03b58e769fe1ede3a50 100644 --- a/test/gtest_feature_force_torque_preint_WIP.cpp +++ b/test/gtest_feature_force_torque_preint_WIP.cpp @@ -111,7 +111,7 @@ class FeatureForceTorquePreint_test : public testing::Test //emplace Frame ts_ = problem_->getProcessorIsMotion()->getBuffer().back().ts_; state_vec_ = problem_->getProcessorIsMotion()->getCurrentState(); - last_frame_ = problem_->emplaceFrame(KEY, state_vec_, ts_); + last_frame_ = problem_->emplaceKeyFrame( state_vec_, ts_); //emplace a feature delta_preint_ = problem_->getProcessorIsMotion()->getMotion().delta_integr_; diff --git a/test/gtest_processor_force_torque_preint.cpp b/test/gtest_processor_force_torque_preint.cpp index 58ee5df4de68ef9849f5bca65e84c7dafe60eec6..8925efb81dab1b9fe0f3818e0608293fe898abd2 100644 --- a/test/gtest_processor_force_torque_preint.cpp +++ b/test/gtest_processor_force_torque_preint.cpp @@ -203,7 +203,7 @@ public: // - call setOrigin on processors isMotion setOriginState(); MatrixXd P_origin_ = pow(1e-3, 2) * MatrixXd::Identity(18,18); - KF1_ = problem_->emplaceFrame(KEY, t0_, x_origin_); + KF1_ = problem_->emplaceKeyFrame( t0_, x_origin_); // Prior pose factor CapturePosePtr pose_prior_capture = CaptureBase::emplace<CapturePose>(KF1_, t0_, nullptr, x_origin_.head(7), P_origin_.topLeftCorner(6, 6)); pose_prior_capture->emplaceFeatureAndFactor(); @@ -269,7 +269,7 @@ public: setOdomData(); Matrix6d rel_pose_cov = 1e-6 * Matrix6d::Identity(); - KF2_ = problem_->getTrajectory()->getLastKeyFrame(); + KF2_ = problem_->getTrajectory()->getLastFrame(); CaptureBasePtr cap_pose_base = CaptureBase::emplace<CapturePose>(KF2_, KF2_->getTimeStamp(), nullptr, prev_pose_curr_, rel_pose_cov); FeatureBasePtr ftr_odom3d_base = FeatureBase::emplace<FeaturePose>(cap_pose_base, prev_pose_curr_, rel_pose_cov); FactorBase::emplace<FactorOdom3d>(ftr_odom3d_base, ftr_odom3d_base, KF1_, nullptr, false); diff --git a/test/gtest_processor_inertial_kinematics.cpp b/test/gtest_processor_inertial_kinematics.cpp index 8653902ac933e7abf7b8b01e94eeeb87b1e56fb9..ab377e4bebe2bea742a6691db4a77cbe54d0f1d6 100644 --- a/test/gtest_processor_inertial_kinematics.cpp +++ b/test/gtest_processor_inertial_kinematics.cpp @@ -101,7 +101,7 @@ class FactorInertialKinematics_2KF : public testing::Test // Set origin of the problem // KF0_ = problem_->setPriorFactor(x_origin_, P_origin_, t_, 0.005); - KF0_ = problem_->emplaceFrame(KEY, t_, x_origin_); + KF0_ = problem_->emplaceKeyFrame( t_, x_origin_); /////////////////////////////////////////////////// // Prior pose factor @@ -197,7 +197,7 @@ TEST_F(FactorInertialKinematics_2KF, sensor_and_processors_registration) Vector3d pdiff; pdiff << 4.5, 0, 0; Vector3d vdiff; vdiff << 3, 0, 0; - FrameBasePtr KF1 = problem_->getTrajectory()->getLastKeyFrame(); + FrameBasePtr KF1 = problem_->getTrajectory()->getLastFrame(); ASSERT_MATRIX_APPROX(KF0_->getStateBlock('P')->getState(), ZERO3, 1e-6);