diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h
index 4bd3dfe2eb36aa62ab097a9fc092db62f76b3131..5835ac81f9535bda1cca0a059b48249f03fb2ac7 100644
--- a/include/gnss/processor/processor_gnss_fix.h
+++ b/include/gnss/processor/processor_gnss_fix.h
@@ -30,9 +30,9 @@ struct ProcessorParamsGnssFix : public ProcessorParamsBase
}
std::string print()
{
- return "\n" + ProcessorParamsBase::print()
- + "time_th: " + std::to_string(time_th) + "\n";
- + "dist_traveled: " + std::to_string(dist_traveled) + "\n";
+ return "\n" + ProcessorParamsBase::print() + "\n"
+ + "time_th: " + std::to_string(time_th) + "\n"
+ + "dist_traveled: " + std::to_string(dist_traveled) + "\n"
+ "enu_map_init_dist_min: " + std::to_string(enu_map_init_dist_min) + "\n";
}
};
@@ -47,7 +47,7 @@ class ProcessorGnssFix : public ProcessorBase
FrameBasePtr last_KF_;
public:
- ProcessorGnssFix(ProcessorParamsGnssFixPtr _params, SensorGnssPtr _sensor_gnss_ptr);
+ ProcessorGnssFix(ProcessorParamsGnssFixPtr _params);
virtual ~ProcessorGnssFix();
virtual void configure(SensorBasePtr _sensor) override;
@@ -96,7 +96,7 @@ class ProcessorGnssFix : public ProcessorBase
bool rejectOutlier(FactorBasePtr ctr_ptr);
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);
};
diff --git a/include/gnss/processor/processor_gnss_single_diff.h b/include/gnss/processor/processor_gnss_single_diff.h
index b425b162d642e89328b5d2f58bb2f6f3d97e7af7..67e12150bda505ed3874ce024a99a47c168ea198 100644
--- a/include/gnss/processor/processor_gnss_single_diff.h
+++ b/include/gnss/processor/processor_gnss_single_diff.h
@@ -30,9 +30,9 @@ struct ProcessorParamsGnssSingleDiff : public ProcessorParamsBase
}
std::string print()
{
- return "\n" + ProcessorParamsBase::print()
- + "time_th: " + std::to_string(time_th) + "\n";
- + "dist_traveled: " + std::to_string(dist_traveled) + "\n";
+ return "\n" + ProcessorParamsBase::print() + "\n"
+ + "time_th: " + std::to_string(time_th) + "\n"
+ + "dist_traveled: " + std::to_string(dist_traveled) + "\n"
+ "enu_map_init_dist_min: " + std::to_string(enu_map_init_dist_min) + "\n";
}
};
@@ -47,7 +47,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
FrameBasePtr last_KF_;
public:
- ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss);
+ ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss);
virtual ~ProcessorGnssSingleDiff();
virtual void configure(SensorBasePtr _sensor) override;
FrameBasePtr getLastKF();
@@ -97,7 +97,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase
FactorBasePtr emplaceFactor(FeatureBasePtr _ftr);
public:
- static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor);
+ static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
};
diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h
index d84c8b19c1c70bcf3560c642fbcac641268217eb..b53ecbc8aab02d6184d252cecb5993fbfb9d25c7 100644
--- a/include/gnss/sensor/sensor_gnss.h
+++ b/include/gnss/sensor/sensor_gnss.h
@@ -24,21 +24,21 @@ struct IntrinsicsGnss : public IntrinsicsBase
IntrinsicsGnss(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- extrinsics_fixed_ = _server.getParam<bool>(_unique_name + "/extrinsics_fixed");
- roll_fixed_ = _server.getParam<bool>(_unique_name + "/roll_fixed");
- pitch_fixed_ = _server.getParam<bool>(_unique_name + "/pitch_fixed");
- yaw_fixed_ = _server.getParam<bool>(_unique_name + "/yaw_fixed");
- translation_fixed_ = _server.getParam<bool>(_unique_name + "/translation_fixed");
+ extrinsics_fixed_ = _server.getParam<bool>(_unique_name + "/extrinsics_fixed");
+ roll_fixed_ = _server.getParam<bool>(_unique_name + "/roll_fixed");
+ pitch_fixed_ = _server.getParam<bool>(_unique_name + "/pitch_fixed");
+ yaw_fixed_ = _server.getParam<bool>(_unique_name + "/yaw_fixed");
+ translation_fixed_ = _server.getParam<bool>(_unique_name + "/translation_fixed");
+ }
+ std::string print()
+ {
+ return "\n" + IntrinsicsBase::print() + "\n"
+ + "extrinsics_fixed: " + std::to_string(extrinsics_fixed_) + "\n"
+ + "roll_fixed: " + std::to_string(roll_fixed_) + "\n"
+ + "pitch_fixed: " + std::to_string(pitch_fixed_) + "\n"
+ + "yaw_fixed: " + std::to_string(yaw_fixed_) + "\n"
+ + "translation_fixed: " + std::to_string(translation_fixed_) + "\n";
}
- std::string print()
- {
- return "\n" + IntrinsicsBase::print()
- + "extrinsics_fixed: " + std::to_string(extrinsics_fixed_) + "\n"
- + "roll_fixed: " + std::to_string(roll_fixed_) + "\n"
- + "pitch_fixed: " + std::to_string(pitch_fixed_) + "\n"
- + "yaw_fixed: " + std::to_string(yaw_fixed_) + "\n"
- + "translation_fixed: " + std::to_string(translation_fixed_) + "\n";
- }
};
class SensorGnss : public SensorBase
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index f11be23a5373ee138d7ebff11a54d802258ae91b..2eee30479497af96c2a2bea1b9e00f78724f4619 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -7,9 +7,8 @@
namespace wolf
{
-ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss, SensorGnssPtr _sensor_gnss) :
+ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss) :
ProcessorBase("GNSS FIX", _params_gnss),
- sensor_gnss_(_sensor_gnss),
params_gnss_(_params_gnss),
first_capture_(nullptr)
@@ -169,10 +168,9 @@ void ProcessorGnssFix::configure(SensorBasePtr _sensor)
sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor);
};
-ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor)
+ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
- auto prc = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params),
- std::static_pointer_cast<SensorGnss>(sensor));
+ auto prc = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params));
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 3bc0a79c7b93175b8a56cbef27861f1204d61cca..7afcfd29d1b267bab7ca7609e18f5ef9ffc63cdd 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -6,9 +6,8 @@
namespace wolf
{
-ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss) :
+ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss) :
ProcessorBase("GNSS SINGLE DIFFERENCES", _params_gnss),
- sensor_gnss_(_sensor_gnss),
params_gnss_(_params_gnss)
{
//
@@ -142,9 +141,9 @@ void ProcessorGnssSingleDiff::configure(SensorBasePtr _sensor)
sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor);
};
-ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor)
+ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
- ProcessorGnssSingleDiffPtr prc = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params), std::static_pointer_cast<SensorGnss>(sensor));
+ ProcessorGnssSingleDiffPtr prc = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params));
prc->setName(_unique_name);
return prc;
}