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Commit 2d2848d6 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Merge branch '16-follow-core-313' into 'devel'

Resolve "follow core:#313"

Closes #16

See merge request !19
parents f7576598 fb4d8d71
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3 merge requests!28release after RAL,!27After 2nd RAL submission,!19Resolve "follow core:#313"
...@@ -84,7 +84,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture) ...@@ -84,7 +84,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
else if (permittedKeyFrame() && voteForKeyFrame()) else if (permittedKeyFrame() && voteForKeyFrame())
{ {
WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp()); WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp());
new_frame = getProblem()->emplaceKeyFrame(incoming_capture_->getTimeStamp()); new_frame = getProblem()->emplaceFrame(incoming_capture_->getTimeStamp());
KF_created = true; KF_created = true;
} }
// OTHERWISE return // OTHERWISE return
......
...@@ -367,8 +367,7 @@ void ProcessorTrackerGnss::establishFactors() ...@@ -367,8 +367,7 @@ void ProcessorTrackerGnss::establishFactors()
WOLF_DEBUG("TDCP BATCH ref frame ", KF->id()); WOLF_DEBUG("TDCP BATCH ref frame ", KF->id());
// discard non-key frames, last-last pair and frames without CaptureGnss // discard non-key frames, last-last pair and frames without CaptureGnss
if (not KF->isKey() or if (KF == last_ptr_->getFrame() or
KF == last_ptr_->getFrame() or
KF->getCaptureOf(getSensor(),"CaptureGnss") == nullptr) KF->getCaptureOf(getSensor(),"CaptureGnss") == nullptr)
continue; continue;
......
...@@ -113,7 +113,7 @@ TEST(FactorGnssFix2dTest, configure_tree) ...@@ -113,7 +113,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
// Emplace a frame (FIXED) // Emplace a frame (FIXED)
Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished(); Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
frame_ptr = problem_ptr->emplaceKeyFrame( TimeStamp(0), frame_pose); frame_ptr = problem_ptr->emplaceFrame( TimeStamp(0), frame_pose);
problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0); problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
// Create & process GNSS Fix capture // Create & process GNSS Fix capture
...@@ -122,7 +122,6 @@ TEST(FactorGnssFix2dTest, configure_tree) ...@@ -122,7 +122,6 @@ TEST(FactorGnssFix2dTest, configure_tree)
// Checks // Checks
EXPECT_TRUE(problem_ptr->check(1)); EXPECT_TRUE(problem_ptr->check(1));
EXPECT_TRUE(frame_ptr->isKey());
} }
/* /*
......
...@@ -104,7 +104,7 @@ void setUpProblem() ...@@ -104,7 +104,7 @@ void setUpProblem()
Vector7d frm_state; Vector7d frm_state;
frm_state.head<3>() = t_map_base; frm_state.head<3>() = t_map_base;
frm_state.tail<4>() = q_map_base.coeffs(); frm_state.tail<4>() = q_map_base.coeffs();
frm = prb->emplaceKeyFrame( TimeStamp(0), frm_state); frm = prb->emplaceFrame( TimeStamp(0), frm_state);
// capture // capture
cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr); cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);
......
...@@ -119,13 +119,13 @@ void setUpProblem() ...@@ -119,13 +119,13 @@ void setUpProblem()
Vector7d frm_r_state; Vector7d frm_r_state;
frm_r_state.head<3>() = t_map_base_r; frm_r_state.head<3>() = t_map_base_r;
frm_r_state.tail<4>() = q_map_base_r.coeffs(); frm_r_state.tail<4>() = q_map_base_r.coeffs();
frm_r = prb->emplaceKeyFrame( TimeStamp(0), frm_r_state); frm_r = prb->emplaceFrame( TimeStamp(0), frm_r_state);
// Frame k // Frame k
Vector7d frm_k_state; Vector7d frm_k_state;
frm_k_state.head<3>() = t_map_base_k; frm_k_state.head<3>() = t_map_base_k;
frm_k_state.tail<4>() = q_map_base_k.coeffs(); frm_k_state.tail<4>() = q_map_base_k.coeffs();
frm_k = prb->emplaceKeyFrame( TimeStamp(1), frm_k_state); frm_k = prb->emplaceFrame( TimeStamp(1), frm_k_state);
// capture r // capture r
cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr); cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);
......
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