diff --git a/CMakeLists.txt b/CMakeLists.txt
index 71ccfc6d2fc73a310bd1d1c6a07dcf786e92e8eb..96d92a8e023b116a4a5d60e629e7270069261328 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,7 +122,7 @@ include/${PROJECT_NAME}/feature/feature_force_torque.h
include/${PROJECT_NAME}/feature/feature_inertial_kinematics.h
)
SET(HDRS_PROCESSOR
-include/${PROJECT_NAME}/processor/processor_force_torque_inertial_preint.h
+include/${PROJECT_NAME}/processor/processor_force_torque_inertial.h
include/${PROJECT_NAME}/processor/processor_force_torque_inertial_dynamics.h
include/${PROJECT_NAME}/processor/processor_force_torque.h
include/${PROJECT_NAME}/processor/processor_inertial_kinematics.h
@@ -148,7 +148,7 @@ src/feature/feature_force_torque.cpp
src/feature/feature_inertial_kinematics.cpp
)
SET(SRCS_PROCESSOR
-src/processor/processor_force_torque_inertial_preint.cpp
+src/processor/processor_force_torque_inertial.cpp
src/processor/processor_force_torque_inertial_dynamics.cpp
src/processor/processor_force_torque.cpp
src/processor/processor_inertial_kinematics.cpp
diff --git a/include/bodydynamics/processor/processor_force_torque_inertial_preint.h b/include/bodydynamics/processor/processor_force_torque_inertial.h
similarity index 90%
rename from include/bodydynamics/processor/processor_force_torque_inertial_preint.h
rename to include/bodydynamics/processor/processor_force_torque_inertial.h
index 503247053b9f77094b4000d5ad5ecbfa54f50baa..dc58a7e80ab44636a6e1c2be383deca83279a1eb 100644
--- a/include/bodydynamics/processor/processor_force_torque_inertial_preint.h
+++ b/include/bodydynamics/processor/processor_force_torque_inertial.h
@@ -26,8 +26,8 @@
* Author: jsola
*/
-#ifndef PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_PREINT_H_
-#define PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_PREINT_H_
+#ifndef PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_
+#define PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_
#include "bodydynamics/math/force_torque_inertial_delta_tools.h"
#include "bodydynamics/sensor/sensor_force_torque_inertial.h"
@@ -37,12 +37,12 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorForceTorqueInertialPreint);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorForceTorqueInertial);
-struct ParamsProcessorForceTorqueInertialPreint : public ParamsProcessorMotion
+struct ParamsProcessorForceTorqueInertial : public ParamsProcessorMotion
{
- ParamsProcessorForceTorqueInertialPreint() = default;
- ParamsProcessorForceTorqueInertialPreint(std::string _unique_name, const ParamsServer& _server)
+ ParamsProcessorForceTorqueInertial() = default;
+ ParamsProcessorForceTorqueInertial(std::string _unique_name, const ParamsServer& _server)
: ParamsProcessorMotion(_unique_name, _server)
{
n_propellers = _server.getParam<int>(prefix + _unique_name + "/n_propellers");
@@ -57,18 +57,18 @@ struct ParamsProcessorForceTorqueInertialPreint : public ParamsProcessorMotion
int n_propellers;
};
-WOLF_PTR_TYPEDEFS(ProcessorForceTorqueInertialPreint);
-class ProcessorForceTorqueInertialPreint : public ProcessorMotion
+WOLF_PTR_TYPEDEFS(ProcessorForceTorqueInertial);
+class ProcessorForceTorqueInertial : public ProcessorMotion
{
public:
- ProcessorForceTorqueInertialPreint(
- ParamsProcessorForceTorqueInertialPreintPtr _params_force_torque_inertial_preint);
- ~ProcessorForceTorqueInertialPreint() override;
+ ProcessorForceTorqueInertial(
+ ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial_preint);
+ ~ProcessorForceTorqueInertial() override;
void configure(SensorBasePtr _sensor) override;
- WOLF_PROCESSOR_CREATE(ProcessorForceTorqueInertialPreint, ParamsProcessorForceTorqueInertialPreint);
+ WOLF_PROCESSOR_CREATE(ProcessorForceTorqueInertial, ParamsProcessorForceTorqueInertial);
protected:
- ParamsProcessorForceTorqueInertialPreintPtr params_force_torque_inertial_preint_;
+ ParamsProcessorForceTorqueInertialPtr params_force_torque_inertial_preint_;
SensorForceTorqueInertialPtr sensor_fti_;
public:
@@ -242,11 +242,11 @@ class ProcessorForceTorqueInertialPreint : public ProcessorMotion
virtual VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
};
-inline Eigen::VectorXd ProcessorForceTorqueInertialPreint::deltaZero() const
+inline Eigen::VectorXd ProcessorForceTorqueInertial::deltaZero() const
{
return bodydynamics::fti::identity();
}
} /* namespace wolf */
-#endif /* PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_PREINT_H_ */
+#endif /* PROCESSOR_PROCESSOR_FORCE_TORQUE_INERTIAL_H_ */
diff --git a/src/processor/processor_force_torque_inertial_preint.cpp b/src/processor/processor_force_torque_inertial.cpp
similarity index 82%
rename from src/processor/processor_force_torque_inertial_preint.cpp
rename to src/processor/processor_force_torque_inertial.cpp
index 508be9dd558e32b11ff6ec151659562731bbb367..2d3186994c748397bbbd877233938f91814fd094 100644
--- a/src/processor/processor_force_torque_inertial_preint.cpp
+++ b/src/processor/processor_force_torque_inertial.cpp
@@ -27,7 +27,7 @@
*/
// bodydynamics
-#include "bodydynamics/processor/processor_force_torque_inertial_preint.h"
+#include "bodydynamics/processor/processor_force_torque_inertial.h"
#include "bodydynamics/factor/factor_force_torque_inertial.h"
#include "bodydynamics/math/force_torque_inertial_delta_tools.h"
@@ -38,9 +38,9 @@
namespace wolf
{
-ProcessorForceTorqueInertialPreint::ProcessorForceTorqueInertialPreint(
- ParamsProcessorForceTorqueInertialPreintPtr _params_force_torque_inertial_preint)
- : ProcessorMotion("ProcessorForceTorqueInertialPreint",
+ProcessorForceTorqueInertial::ProcessorForceTorqueInertial(
+ ParamsProcessorForceTorqueInertialPtr _params_force_torque_inertial_preint)
+ : ProcessorMotion("ProcessorForceTorqueInertial",
"POVL",
3, // dim
13, // state size [p, q, v, L]
@@ -54,12 +54,12 @@ ProcessorForceTorqueInertialPreint::ProcessorForceTorqueInertialPreint(
// TODO Auto-generated constructor stub
}
-ProcessorForceTorqueInertialPreint::~ProcessorForceTorqueInertialPreint()
+ProcessorForceTorqueInertial::~ProcessorForceTorqueInertial()
{
// TODO Auto-generated destructor stub
}
-CaptureMotionPtr ProcessorForceTorqueInertialPreint::emplaceCapture(const FrameBasePtr& _frame_own,
+CaptureMotionPtr ProcessorForceTorqueInertial::emplaceCapture(const FrameBasePtr& _frame_own,
const SensorBasePtr& _sensor,
const TimeStamp& _ts,
const VectorXd& _data,
@@ -75,30 +75,30 @@ CaptureMotionPtr ProcessorForceTorqueInertialPreint::emplaceCapture(const FrameB
return capture;
}
-FeatureBasePtr ProcessorForceTorqueInertialPreint::emplaceFeature(CaptureMotionPtr _capture_own)
+FeatureBasePtr ProcessorForceTorqueInertial::emplaceFeature(CaptureMotionPtr _capture_own)
{
FeatureBasePtr returnValue;
return returnValue;
}
-FactorBasePtr ProcessorForceTorqueInertialPreint::emplaceFactor(FeatureBasePtr _feature_motion,
+FactorBasePtr ProcessorForceTorqueInertial::emplaceFactor(FeatureBasePtr _feature_motion,
CaptureBasePtr _capture_origin)
{
FactorBasePtr returnValue;
return returnValue;
}
-void ProcessorForceTorqueInertialPreint::setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration)
+void ProcessorForceTorqueInertial::setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration)
{
_capture->getStateBlock('I')->setState(_calibration); // Set IMU bias
}
-void ProcessorForceTorqueInertialPreint::configure(SensorBasePtr _sensor)
+void ProcessorForceTorqueInertial::configure(SensorBasePtr _sensor)
{
sensor_fti_ = std::static_pointer_cast<SensorForceTorqueInertial>(_sensor);
}
-void ProcessorForceTorqueInertialPreint::computeCurrentDelta(const Eigen::VectorXd& _data,
+void ProcessorForceTorqueInertial::computeCurrentDelta(const Eigen::VectorXd& _data,
const Eigen::MatrixXd& _data_cov,
const Eigen::VectorXd& _calib,
const double _dt,
@@ -125,7 +125,7 @@ void ProcessorForceTorqueInertialPreint::computeCurrentDelta(const Eigen::Vector
_jacobian_calib = J_delta_tangent * J_tangent_calib;
}
-void ProcessorForceTorqueInertialPreint::deltaPlusDelta(const Eigen::VectorXd& _delta1,
+void ProcessorForceTorqueInertial::deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
Eigen::VectorXd& _delta1_plus_delta2) const
@@ -133,7 +133,7 @@ void ProcessorForceTorqueInertialPreint::deltaPlusDelta(const Eigen::VectorXd& _
bodydynamics::fti::compose(_delta1, _delta2, _dt2, _delta1_plus_delta2);
}
-void ProcessorForceTorqueInertialPreint::deltaPlusDelta(const Eigen::VectorXd& _delta1,
+void ProcessorForceTorqueInertial::deltaPlusDelta(const Eigen::VectorXd& _delta1,
const Eigen::VectorXd& _delta2,
const double _dt2,
Eigen::VectorXd& _delta1_plus_delta2,
@@ -143,7 +143,7 @@ void ProcessorForceTorqueInertialPreint::deltaPlusDelta(const Eigen::VectorXd& _
bodydynamics::fti::compose(_delta1, _delta2, _dt2, _delta1_plus_delta2, _jacobian1, _jacobian2);
}
-void ProcessorForceTorqueInertialPreint::statePlusDelta(const VectorComposite& _x,
+void ProcessorForceTorqueInertial::statePlusDelta(const VectorComposite& _x,
const Eigen::VectorXd& _delta,
const double _dt,
VectorComposite& _x_plus_delta) const
@@ -153,13 +153,13 @@ void ProcessorForceTorqueInertialPreint::statePlusDelta(const VectorComposite& _
_x_plus_delta = VectorComposite(x_plus_delta, "PVLO", {3, 3, 3, 4});
}
-Eigen::VectorXd ProcessorForceTorqueInertialPreint::correctDelta(const Eigen::VectorXd& _delta_preint,
+Eigen::VectorXd ProcessorForceTorqueInertial::correctDelta(const Eigen::VectorXd& _delta_preint,
const Eigen::VectorXd& _delta_step) const
{
return fti::plus(_delta_preint, _delta_step);
}
-VectorXd ProcessorForceTorqueInertialPreint::getCalibration(const CaptureBaseConstPtr _capture) const
+VectorXd ProcessorForceTorqueInertial::getCalibration(const CaptureBaseConstPtr _capture) const
{
if (_capture)
return _capture->getStateBlock('I')->getState(); // IMU bias
@@ -171,6 +171,6 @@ VectorXd ProcessorForceTorqueInertialPreint::getCalibration(const CaptureBaseCon
#include <core/processor/factory_processor.h>
namespace wolf
{
-WOLF_REGISTER_PROCESSOR(ProcessorForceTorqueInertialPreint);
-WOLF_REGISTER_PROCESSOR_AUTO(ProcessorForceTorqueInertialPreint);
+WOLF_REGISTER_PROCESSOR(ProcessorForceTorqueInertial);
+WOLF_REGISTER_PROCESSOR_AUTO(ProcessorForceTorqueInertial);
} // namespace wolf
\ No newline at end of file
diff --git a/test/gtest_factor_force_torque_inertial.cpp b/test/gtest_factor_force_torque_inertial.cpp
index 489cb9df7ccde81c0e3f24731b260cc53d88dda6..72e5f59675df274e4387876ae644c081a61798ab 100644
--- a/test/gtest_factor_force_torque_inertial.cpp
+++ b/test/gtest_factor_force_torque_inertial.cpp
@@ -21,7 +21,7 @@
//--------LICENSE_END--------
#include "bodydynamics/factor/factor_force_torque_inertial.h"
-#include "bodydynamics/processor/processor_force_torque_inertial_preint.h"
+#include "bodydynamics/processor/processor_force_torque_inertial.h"
#include "bodydynamics/sensor/sensor_force_torque_inertial.h"
#include "bodydynamics/internal/config.h"
@@ -46,7 +46,7 @@ class Test_FactorForceTorqueInertialPreint : public testing::Test
public:
ProblemPtr problem;
SensorForceTorqueInertialPtr sensor;
- ProcessorForceTorqueInertialPreintPtr processor;
+ ProcessorForceTorqueInertialPtr processor;
FrameBasePtr frame_origin, frame_last, frame;
CaptureMotionPtr capture_origin, capture_last, capture;
FeatureMotionPtr feature;
@@ -71,7 +71,7 @@ class Test_FactorForceTorqueInertialPreint : public testing::Test
problem = Problem::autoSetup(server);
sensor = std::static_pointer_cast<SensorForceTorqueInertial>(problem->getHardware()->getSensorList().front());
- processor = std::static_pointer_cast<ProcessorForceTorqueInertialPreint>(sensor->getProcessorList().front());
+ processor = std::static_pointer_cast<ProcessorForceTorqueInertial>(sensor->getProcessorList().front());
problem->print(4, 1, 1, 1);
diff --git a/test/yaml/problem_force_torque_inertial.yaml b/test/yaml/problem_force_torque_inertial.yaml
index 2082a65ad6580b58d0e234a9f9594fd615646010..f18812eb7c1b8b5ed2295a3e4c16c412d6531ee4 100644
--- a/test/yaml/problem_force_torque_inertial.yaml
+++ b/test/yaml/problem_force_torque_inertial.yaml
@@ -32,7 +32,7 @@ config:
processors:
-
name: "proc FTI"
- type: "ProcessorForceTorqueInertialPreint"
+ type: "ProcessorForceTorqueInertial"
sensor_name: "sensor FTI"
plugin: "bodydynamics"
follow: "processor_force_torque_inertial_preint.yaml"