diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h
index a32fb08fd483ca166d2839dcf1f79f303408997c..6a2cba34e6e668fd98e41392dc68a19e64696772 100644
--- a/include/gnss/processor/processor_gnss_fix.h
+++ b/include/gnss/processor/processor_gnss_fix.h
@@ -38,10 +38,10 @@ struct ProcessorParamsGnssFix : public ProcessorParamsBase
class ProcessorGnssFix : public ProcessorBase
{
protected:
- SensorGnssPtr sensor_gnss_ptr_;
+ SensorGnssPtr sensor_gnss_;
ProcessorParamsGnssFixPtr params_gnss_;
- CaptureGnssFixPtr first_capture_ptr_, last_capture_ptr_;
- FrameBasePtr last_gnss_fix_KF_;
+ CaptureGnssFixPtr first_capture_, incoming_capture_;
+ FrameBasePtr last_KF_;
public:
ProcessorGnssFix(ProcessorParamsGnssFixPtr _params, SensorGnssPtr _sensor_gnss_ptr);
diff --git a/include/gnss/processor/processor_gnss_single_diff.h b/include/gnss/processor/processor_gnss_single_diff.h
index 41a6ef8a21eec6bb1b8083c1c981b35d6eee8a9f..ebd286c8ef51d1ad6f1bcaed305ccdf48bb656b2 100644
--- a/include/gnss/processor/processor_gnss_single_diff.h
+++ b/include/gnss/processor/processor_gnss_single_diff.h
@@ -38,12 +38,13 @@ struct ProcessorParamsGnssSingleDiff : public ProcessorParamsBase
class ProcessorGnssSingleDiff : public ProcessorBase
{
protected:
- SensorGnssPtr sensor_gnss_ptr_;
+ SensorGnssPtr sensor_gnss_;
ProcessorParamsGnssSingleDiffPtr params_gnss_;
- CaptureGnssSingleDiffPtr last_capture_ptr_, incoming_capture_ptr_;
+ CaptureGnssSingleDiffPtr incoming_capture_;
+ FrameBasePtr last_KF_;
public:
- ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss_ptr);
+ ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss);
virtual ~ProcessorGnssSingleDiff();
virtual void configure(SensorBasePtr _sensor);
@@ -59,7 +60,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures (it is not called).
*/
- virtual void processKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {};
+ virtual void processKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) override {};
/** \brief trigger in capture
*
@@ -71,16 +72,16 @@ class ProcessorGnssSingleDiff : public ProcessorBase
*
* The ProcessorTracker only processes incoming captures, then it returns false.
*/
- virtual bool triggerInKeyFrame(FrameBasePtr _keyframe_ptr, const Scalar& _time_tolerance) override {return false;}
+ virtual bool triggerInKeyFrame(FrameBasePtr _keyframe, const Scalar& _time_tolerance) override {return false;}
virtual bool voteForKeyFrame();
private:
- FactorBasePtr emplaceFactor(FeatureBasePtr& ftr_ptr);
+ FactorBasePtr emplaceFactor(FeatureBasePtr& ftr);
public:
- static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr);
+ static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor);
};
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index 152937a70060236d52b285dd619af0b2cd37dc8c..fca7b52b38f67ff731fcd5a1a0e86af4e81bea04 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -7,11 +7,11 @@
namespace wolf
{
-ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss, SensorGnssPtr _sensor_gnss_ptr) :
+ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss, SensorGnssPtr _sensor_gnss) :
ProcessorBase("GNSS FIX", _params_gnss),
- sensor_gnss_ptr_(_sensor_gnss_ptr),
+ sensor_gnss_(_sensor_gnss),
params_gnss_(_params_gnss),
- first_capture_ptr_(nullptr)
+ first_capture_(nullptr)
{
//
}
@@ -21,63 +21,63 @@ ProcessorGnssFix::~ProcessorGnssFix()
//
}
-void ProcessorGnssFix::processCapture(CaptureBasePtr _capture_ptr)
+void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
{
// TODO: keep captures in a buffer and deal with KFpacks
//WOLF_DEBUG("ProcessorGnssFix::process()");
- last_capture_ptr_ = std::static_pointer_cast<CaptureGnssFix>(_capture_ptr);
+ incoming_capture_ = std::static_pointer_cast<CaptureGnssFix>(_capture);
- FrameBasePtr new_frame_ptr = nullptr;
+ FrameBasePtr new_frame = nullptr;
FactorBasePtr new_fac = nullptr;
// ALREADY CREATED KF
- PackKeyFramePtr KF_pack = buffer_pack_kf_.selectPack( _capture_ptr, params_gnss_->time_tolerance);
- if (KF_pack && KF_pack->key_frame != last_gnss_fix_KF_)
+ PackKeyFramePtr KF_pack = buffer_pack_kf_.selectPack( incoming_capture_, params_gnss_->time_tolerance);
+ if (KF_pack && KF_pack->key_frame != last_KF_)
{
- WOLF_DEBUG( "PR ", getName()," - capture ", _capture_ptr->id(), " appended to existing KF " , KF_pack->key_frame->id() , " TS: ", KF_pack->key_frame->getTimeStamp());
- new_frame_ptr = KF_pack->key_frame;
+ WOLF_DEBUG( "PR ", getName()," - capture ", incoming_capture_->id(), " appended to existing KF " , KF_pack->key_frame->id() , " TS: ", KF_pack->key_frame->getTimeStamp());
+ new_frame = KF_pack->key_frame;
}
// MAKE KF
else if (voteForKeyFrame() && permittedKeyFrame())
{
- new_frame_ptr = getProblem()->emplaceFrame(KEY, _capture_ptr->getTimeStamp());
- getProblem()->keyFrameCallback(new_frame_ptr, shared_from_this(), params_gnss_->time_tolerance);
- WOLF_DEBUG( "PR ", getName()," - capture ", _capture_ptr->id(), " appended to new KF " , new_frame_ptr->id() , " TS: ", new_frame_ptr->getTimeStamp());
+ new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+ getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_gnss_->time_tolerance);
+ WOLF_DEBUG( "PR ", getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
}
// ESTABLISH FACTOR
- if (new_frame_ptr)
+ if (new_frame)
{
// LINK CAPTURE
- _capture_ptr->link(new_frame_ptr); // Add incoming Capture to the new Frame
+ incoming_capture_->link(new_frame); // Add incoming Capture to the new Frame
// EMPLACE FEATURES
WOLF_DEBUG( "PR ", getName()," - emplacing the feature...");
- auto ftr_ptr = FeatureBase::emplace<FeatureGnssFix>(last_capture_ptr_, last_capture_ptr_->getData(),last_capture_ptr_->getDataCovariance());
+ auto ftr = FeatureBase::emplace<FeatureGnssFix>(incoming_capture_, incoming_capture_->getData(),incoming_capture_->getDataCovariance());
// EMPLACE FACTOR
- new_fac = emplaceFactor(ftr_ptr);
+ new_fac = emplaceFactor(ftr);
// outlier rejection
- if (sensor_gnss_ptr_->isEnuDefined() && sensor_gnss_ptr_->isEnuMapInitialized())
+ if (sensor_gnss_->isEnuDefined() && sensor_gnss_->isEnuMapInitialized())
if (rejectOutlier(new_fac))
new_fac = nullptr;
// store last KF
if (new_fac)
- last_gnss_fix_KF_= new_frame_ptr;
+ last_KF_= new_frame;
}
// SET ECEF_ENU IF:
// 1 - not initialized
// 2 - factor established
- if (!sensor_gnss_ptr_->isEnuDefined() && new_fac != nullptr)
+ if (!sensor_gnss_->isEnuDefined() && new_fac != nullptr)
{
WOLF_DEBUG("setting ecef enu");
- sensor_gnss_ptr_->setEcefEnu(last_capture_ptr_->getData());
+ sensor_gnss_->setEcefEnu(incoming_capture_->getData());
// Store the first capture that established a factor
- first_capture_ptr_ = last_capture_ptr_;
+ first_capture_ = incoming_capture_;
}
// INITIALIZE ENU_MAP IF 4 NECESSARY CONDITIONS:
@@ -85,55 +85,55 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture_ptr)
// 2 - not initialized
// 3 - current capture in key-frame with factor
// 4 - two factors established (first and current) in frames separated enough ( > enu_map_init_dist_min)
- if ( sensor_gnss_ptr_->isEnuDefined() &&
- !sensor_gnss_ptr_->isEnuMapInitialized() &&
+ if ( sensor_gnss_->isEnuDefined() &&
+ !sensor_gnss_->isEnuMapInitialized() &&
new_fac != nullptr &&
- first_capture_ptr_ != nullptr && first_capture_ptr_->getFrame() != nullptr && last_capture_ptr_->getFrame() != nullptr &&
- (first_capture_ptr_->getFrame()->getState()-last_capture_ptr_->getFrame()->getState()).norm() > params_gnss_->enu_map_init_dist_min)
+ first_capture_ != nullptr && first_capture_->getFrame() != nullptr && incoming_capture_->getFrame() != nullptr &&
+ (first_capture_->getFrame()->getState()-incoming_capture_->getFrame()->getState()).norm() > params_gnss_->enu_map_init_dist_min)
{
WOLF_DEBUG("initializing enu map");
- sensor_gnss_ptr_->initializeEnuMap(first_capture_ptr_->getFrame()->getState(), first_capture_ptr_->getData(),
- last_capture_ptr_->getFrame()->getState(), last_capture_ptr_->getData());
+ sensor_gnss_->initializeEnuMap(first_capture_->getFrame()->getState(), first_capture_->getData(),
+ incoming_capture_->getFrame()->getState(), incoming_capture_->getData());
}
}
-FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr& ftr_ptr)
+FactorBasePtr ProcessorGnssFix::emplaceFactor(FeatureBasePtr& ftr)
{
// CREATE CONSTRAINT --------------------
//WOLF_DEBUG("creating the factor...");
// 2D
if (getProblem()->getDim() == 2)
- return FactorBase::emplace<FactorGnssFix2D>(ftr_ptr, ftr_ptr, sensor_gnss_ptr_, shared_from_this(), false, FAC_ACTIVE);
+ return FactorBase::emplace<FactorGnssFix2D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE);
// 3D
else
- return FactorBase::emplace<FactorGnssFix3D>(ftr_ptr, ftr_ptr, sensor_gnss_ptr_, shared_from_this(), false, FAC_ACTIVE);
+ return FactorBase::emplace<FactorGnssFix3D>(ftr, ftr, sensor_gnss_, shared_from_this(), false, FAC_ACTIVE);
}
-bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac_ptr)
+bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac)
{
// Cast feature
- auto gnss_ftr_ptr = std::static_pointer_cast<FeatureGnssFix>(fac_ptr->getFeature());
+ auto gnss_ftr = std::static_pointer_cast<FeatureGnssFix>(fac->getFeature());
// copy states
- Eigen::VectorXs x(gnss_ftr_ptr->getCapture()->getFrame()->getP()->getState());
- Eigen::VectorXs o(gnss_ftr_ptr->getCapture()->getFrame()->getP()->getState());
- Eigen::VectorXs x_antena(sensor_gnss_ptr_->getStateBlock(0)->getState());
- Eigen::VectorXs t_ENU_map(sensor_gnss_ptr_->getEnuMapTranslation()->getState());
- Eigen::VectorXs roll_ENU_map(sensor_gnss_ptr_->getEnuMapRoll()->getState());
- Eigen::VectorXs pitch_ENU_map(sensor_gnss_ptr_->getEnuMapPitch()->getState());
- Eigen::VectorXs yaw_ENU_map(sensor_gnss_ptr_->getEnuMapYaw()->getState());
+ Eigen::VectorXs x(gnss_ftr->getCapture()->getFrame()->getP()->getState());
+ Eigen::VectorXs o(gnss_ftr->getCapture()->getFrame()->getP()->getState());
+ Eigen::VectorXs x_antena(sensor_gnss_->getStateBlock(0)->getState());
+ Eigen::VectorXs t_ENU_map(sensor_gnss_->getEnuMapTranslation()->getState());
+ Eigen::VectorXs roll_ENU_map(sensor_gnss_->getEnuMapRoll()->getState());
+ Eigen::VectorXs pitch_ENU_map(sensor_gnss_->getEnuMapPitch()->getState());
+ Eigen::VectorXs yaw_ENU_map(sensor_gnss_->getEnuMapYaw()->getState());
// create Scalar* array of a copy of the state
Scalar* parameters[7] = {x.data(), o.data(), x_antena.data(), t_ENU_map.data(), roll_ENU_map.data(),
pitch_ENU_map.data(), yaw_ENU_map.data()};
// create residuals pointer
Eigen::VectorXs residuals(3);
// evaluate the factor in this state
- fac_ptr->evaluate(parameters, residuals.data(), nullptr);
+ fac->evaluate(parameters, residuals.data(), nullptr);
// discard if residual too high evaluated at the current estimation
if (residuals.norm() > 1e3)
{
WOLF_WARN("Discarding GNSS FIX Factor, considered OUTLIER");
- WOLF_TRACE("Feature: ", fac_ptr->getMeasurement().transpose(),"\nError: ",(fac_ptr->getMeasurementSquareRootInformationUpper().inverse()*residuals).transpose());
- fac_ptr->remove();
+ WOLF_TRACE("Feature: ", fac->getMeasurement().transpose(),"\nError: ",(fac->getMeasurementSquareRootInformationUpper().inverse()*residuals).transpose());
+ fac->remove();
return true;
}
return false;
@@ -142,7 +142,7 @@ bool ProcessorGnssFix::rejectOutlier(FactorBasePtr fac_ptr)
bool ProcessorGnssFix::voteForKeyFrame()
{
// Depending on time since the last KF with gnssfix capture
- if (!last_gnss_fix_KF_ || (last_capture_ptr_->getTimeStamp() - last_gnss_fix_KF_->getTimeStamp()) > params_gnss_->time_th)
+ if (!last_KF_ || (incoming_capture_->getTimeStamp() - last_KF_->getTimeStamp()) > params_gnss_->time_th)
return true;
// TODO: more alternatives?
@@ -153,15 +153,15 @@ bool ProcessorGnssFix::voteForKeyFrame()
void ProcessorGnssFix::configure(SensorBasePtr _sensor)
{
- sensor_gnss_ptr_ = std::static_pointer_cast<SensorGnss>(_sensor);
+ sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor);
};
-ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor)
{
- auto prc_ptr = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params),
- std::static_pointer_cast<SensorGnss>(sensor_ptr));
- prc_ptr->setName(_unique_name);
- return prc_ptr;
+ auto prc = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params),
+ std::static_pointer_cast<SensorGnss>(sensor));
+ prc->setName(_unique_name);
+ return prc;
}
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index 18004cc67dc74936b3b57921754d35820c13d894..ff31924f1f1649949de6b6c740a929a950187f16 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -6,9 +6,9 @@
namespace wolf
{
-ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss_ptr) :
+ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss) :
ProcessorBase("GNSS SINGLE DIFFERENCES", _params_gnss),
- sensor_gnss_ptr_(_sensor_gnss_ptr),
+ sensor_gnss_(_sensor_gnss),
params_gnss_(_params_gnss)
{
//
@@ -19,45 +19,48 @@ ProcessorGnssSingleDiff::~ProcessorGnssSingleDiff()
//
}
-void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture_ptr)
+void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
{
// TODO: keep captures in a buffer and deal with KFpacks
//WOLF_DEBUG("ProcessorGnssSingleDiff::process()");
- incoming_capture_ptr_ = std::static_pointer_cast<CaptureGnssSingleDiff>(_capture_ptr);
+ incoming_capture_ = std::static_pointer_cast<CaptureGnssSingleDiff>(_capture);
// discard capture with null or non-key origin frame
- if (incoming_capture_ptr_->getOriginFrame() == nullptr || !incoming_capture_ptr_->getOriginFrame()->isKey())
+ if (incoming_capture_->getOriginFrame() == nullptr || !incoming_capture_->getOriginFrame()->isKey())
return;
- FrameBasePtr new_frame_ptr = nullptr;
+ FrameBasePtr new_frame = nullptr;
// ALREADY CREATED KF
- PackKeyFramePtr KF_pack = buffer_pack_kf_.selectPack( _capture_ptr, params_->time_tolerance);
- if (KF_pack && KF_pack->key_frame != incoming_capture_ptr_->getOriginFrame())
+ PackKeyFramePtr KF_pack = buffer_pack_kf_.selectPack( _capture, params_->time_tolerance);
+ if (KF_pack && KF_pack->key_frame != incoming_capture_->getOriginFrame())
{
- new_frame_ptr = KF_pack->key_frame;
- WOLF_DEBUG( "PR ",getName()," - capture ", _capture_ptr->id(), " appended to existing KF " , KF_pack->key_frame->id() , " TS: ", KF_pack->key_frame->getTimeStamp());
+ new_frame = KF_pack->key_frame;
+ WOLF_DEBUG( "PR ",getName()," - capture ", _capture->id(), " appended to existing KF " , KF_pack->key_frame->id() , " TS: ", KF_pack->key_frame->getTimeStamp());
}
// MAKE KF
else if (voteForKeyFrame() && permittedKeyFrame())
{
- new_frame_ptr = getProblem()->emplaceFrame(KEY, _capture_ptr->getTimeStamp());
- getProblem()->keyFrameCallback(new_frame_ptr, shared_from_this(), params_->time_tolerance);
- WOLF_DEBUG( "PR ",getName()," - capture ", _capture_ptr->id(), " appended to new KF " , new_frame_ptr->id() , " TS: ", new_frame_ptr->getTimeStamp());
+ new_frame = getProblem()->emplaceFrame(KEY, _capture->getTimeStamp());
+ getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
+ WOLF_DEBUG( "PR ",getName()," - capture ", _capture->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
}
// ESTABLISH FACTOR
- if (new_frame_ptr)
+ if (new_frame)
{
// LINK CAPTURE
- _capture_ptr->link(new_frame_ptr); // Add incoming Capture to the new Frame
+ _capture->link(new_frame); // Add incoming Capture to the new Frame
// EMPLACE FEATURE
- auto ftr_ptr = FeatureBase::emplace<FeatureGnssSingleDiff>(incoming_capture_ptr_, incoming_capture_ptr_->getData(),incoming_capture_ptr_->getDataCovariance());
+ auto ftr = FeatureBase::emplace<FeatureGnssSingleDiff>(incoming_capture_, incoming_capture_->getData(),incoming_capture_->getDataCovariance());
// ADD CONSTRAINT
- emplaceFactor(ftr_ptr);
+ emplaceFactor(ftr);
+
+ // store last KF
+ last_KF_ = new_frame;
}
// INITIALIZE ENU_MAP IF 4 NECESSARY CONDITIONS:
@@ -65,29 +68,26 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture_ptr)
// 2 - not initialized
// 3 - current capture in key-frame with factor
// 4 - frames constained by the factor separated enough ( > enu_map_init_dist_min)
- if ( sensor_gnss_ptr_->isEnuDefined() &&
- !sensor_gnss_ptr_->isEnuMapInitialized() &&
- new_frame_ptr != nullptr &&
- incoming_capture_ptr_->getFrame() != nullptr && incoming_capture_ptr_->getFrame()->isKey() &&
- incoming_capture_ptr_->getData().norm() > params_gnss_->enu_map_init_dist_min)
+ if ( sensor_gnss_->isEnuDefined() &&
+ !sensor_gnss_->isEnuMapInitialized() &&
+ new_frame != nullptr &&
+ incoming_capture_->getFrame() != nullptr && incoming_capture_->getFrame()->isKey() &&
+ incoming_capture_->getData().norm() > params_gnss_->enu_map_init_dist_min)
{
WOLF_DEBUG("initializing enu map");
- sensor_gnss_ptr_->initializeEnuMapYaw(incoming_capture_ptr_->getOriginFrame()->getState(),
- incoming_capture_ptr_->getFrame()->getState(),
- incoming_capture_ptr_->getData());
+ sensor_gnss_->initializeEnuMapYaw(incoming_capture_->getOriginFrame()->getState(),
+ incoming_capture_->getFrame()->getState(),
+ incoming_capture_->getData());
}
-
- last_capture_ptr_ = incoming_capture_ptr_;
- incoming_capture_ptr_ = nullptr;
}
-FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr& ftr_ptr)
+FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr& ftr)
{
// CREATE CONSTRAINT --------------------
//WOLF_DEBUG("creating the factor...");
// 2D
if (getProblem()->getDim() == 2)
- return FactorBase::emplace<FactorGnssSingleDiff2D>(ftr_ptr, ftr_ptr, incoming_capture_ptr_->getOriginFrame(), sensor_gnss_ptr_, shared_from_this());
+ return FactorBase::emplace<FactorGnssSingleDiff2D>(ftr, ftr, incoming_capture_->getOriginFrame(), sensor_gnss_, shared_from_this());
// 3D TODO
else
std::runtime_error("Single Differences in 3D not implemented yet.");
@@ -98,7 +98,7 @@ FactorBasePtr ProcessorGnssSingleDiff::emplaceFactor(FeatureBasePtr& ftr_ptr)
bool ProcessorGnssSingleDiff::voteForKeyFrame()
{
// Depending on time since the last KF with gnssfix capture
- if (last_capture_ptr_==nullptr || (last_capture_ptr_->getTimeStamp() - incoming_capture_ptr_->getTimeStamp()) > params_gnss_->time_th)
+ if (last_KF_==nullptr || (last_KF_->getTimeStamp() - incoming_capture_->getTimeStamp()) > params_gnss_->time_th)
return true;
// TODO: more alternatives?
@@ -109,14 +109,14 @@ bool ProcessorGnssSingleDiff::voteForKeyFrame()
void ProcessorGnssSingleDiff::configure(SensorBasePtr _sensor)
{
- sensor_gnss_ptr_ = std::static_pointer_cast<SensorGnss>(_sensor);
+ sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor);
};
-ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor)
{
- ProcessorGnssSingleDiffPtr prc_ptr = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params), std::static_pointer_cast<SensorGnss>(sensor_ptr));
- prc_ptr->setName(_unique_name);
- return prc_ptr;
+ ProcessorGnssSingleDiffPtr prc = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params), std::static_pointer_cast<SensorGnss>(sensor));
+ prc->setName(_unique_name);
+ return prc;
}
} // namespace wolf