Merge branch 'remove-sensor-from-processor-creators' into devel

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);
 
 };
 

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);
 
 };
 

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

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;
 }

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;
 }