diff --git a/demos/camera_Dinesh_LAAS_params.yaml b/demos/camera_Dinesh_LAAS_params.yaml
deleted file mode 100644
index 739505d12e8a2dd224b99220ee024ddc8efd9508..0000000000000000000000000000000000000000
--- a/demos/camera_Dinesh_LAAS_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
- rows: 3
- cols: 3
- data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.416913, 0.264210, -0.000221, -0.000326, 0.000000]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_Dinesh_LAAS_params_notangentrect.yaml b/demos/camera_Dinesh_LAAS_params_notangentrect.yaml
deleted file mode 100644
index dd2f6433f2b60c21b68ebf70b595af981550923c..0000000000000000000000000000000000000000
--- a/demos/camera_Dinesh_LAAS_params_notangentrect.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: mono
-camera_matrix:
- rows: 3
- cols: 3
- data: [809.135074, 0.000000, 335.684471, 0.000000, 809.410030, 257.352121, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.416913, 0.264210, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [753.818405, 0.000000, 337.203047, 0.000000, 0.000000, 777.118492, 258.102663, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_logitech_c300_640_480.yaml b/demos/camera_logitech_c300_640_480.yaml
deleted file mode 100644
index 5f8a1899b71df3721e6f9722d39bd8e09e34509a..0000000000000000000000000000000000000000
--- a/demos/camera_logitech_c300_640_480.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-image_width: 640
-image_height: 480
-#camera_name: narrow_stereo
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [711.687376, 0.000000, 323.306816, 0.000000, 710.933260, 232.005822, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0.067204, -0.141639, 0, 0, 0]
-# data: [0.067204, -0.141639, 0.004462, -0.000636, 0.000000]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [718.941772, 0.000000, 323.016804, 0.000000, 0.000000, 717.174622, 233.475721, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_params.yaml b/demos/camera_params.yaml
deleted file mode 100644
index de0c31d0b05a024724840598a490527a62002ca2..0000000000000000000000000000000000000000
--- a/demos/camera_params.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
- rows: 3
- cols: 3
- data: [872.791604, 0, 407.599166, 0, 883.154343, 270.343971, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.284384, -0.030014, -0.01554, -0.003363, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [826.19989, 0, 413.746093, 0, 0, 863.790649, 267.937027, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_1280x960_ideal.yaml b/demos/camera_params_1280x960_ideal.yaml
deleted file mode 100644
index 814d3cb3f74d51925e62389366ef0a24d429ee44..0000000000000000000000000000000000000000
--- a/demos/camera_params_1280x960_ideal.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 1280
-image_height: 960
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [640, 0, 640, 0, 640, 480, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [640, 0, 640, 0, 0, 640, 480, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_canonical.yaml b/demos/camera_params_canonical.yaml
deleted file mode 100644
index 2508a0bec574125ae9dea63e558528b7211079d1..0000000000000000000000000000000000000000
--- a/demos/camera_params_canonical.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 2
-image_height: 2
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/camera_params_ueye.yaml b/demos/camera_params_ueye.yaml
deleted file mode 100644
index 8703fc4575d1422190e318fb7e0f8a816d37e5cb..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [392.796383, 0, 350.175772, 0, 392.779002, 255.209917, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.3, 0.096, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [313.834106, 0, 361.199457, 0, 0, 349.145264, 258.654166, 0, 0, 0, 1, 0]
diff --git a/demos/camera_params_ueye_radial_dist.yaml b/demos/camera_params_ueye_radial_dist.yaml
deleted file mode 100644
index 52d1fbb4dd01de04e6c759f0850015509235f4b4..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye_radial_dist.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: narrow_stereo
-camera_matrix:
- rows: 3
- cols: 3
- data: [402.860630, 0.000000, 350.628016, 0.000000, 403.220300, 269.746108, 0.000000, 0.000000, 1.000000]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [-0.276945, 0.095681, 0.000000, 0.000000, -0.013371]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
-projection_matrix:
- rows: 3
- cols: 4
- data: [323.792358, 0.000000, 363.187868, 0.000000, 0.000000, 357.040344, 276.369440, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/demos/camera_params_ueye_sim.yaml b/demos/camera_params_ueye_sim.yaml
deleted file mode 100644
index 97f8f676b6b36629bb76a8bdc8c3fe06250b7b5b..0000000000000000000000000000000000000000
--- a/demos/camera_params_ueye_sim.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: camera
-camera_matrix:
- rows: 3
- cols: 3
- data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: plumb_bob
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]
diff --git a/demos/camera_params_vga_ideal.yaml b/demos/camera_params_vga_ideal.yaml
deleted file mode 100644
index c0c21118a4d69765f3d86471a7ff4003afc64dc4..0000000000000000000000000000000000000000
--- a/demos/camera_params_vga_ideal.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-image_width: 640
-image_height: 480
-camera_name: canonical
-camera_matrix:
- rows: 3
- cols: 3
- data: [320, 0, 320, 0, 320, 240, 0, 0, 1]
-distortion_model: none
-distortion_coefficients:
- rows: 1
- cols: 5
- data: [0, 0, 0, 0, 0]
-rectification_matrix:
- rows: 3
- cols: 3
- data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
-projection_matrix:
- rows: 3
- cols: 4
- data: [320, 0, 320, 0, 0, 320, 240, 0, 0, 0, 1, 0]
\ No newline at end of file
diff --git a/demos/map_apriltag_1.yaml b/demos/map_apriltag_1.yaml
deleted file mode 100644
index d0c6a90707ddd2d15a2f921f244f085ecb337e6f..0000000000000000000000000000000000000000
--- a/demos/map_apriltag_1.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-map name: "Example of map of Apriltag landmarks"
-
-nlandmarks: 4 # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
- - id : 1 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 1
- tag width: 0.1
- position: [0, 0, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 3 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 3
- tag width: 0.1
- position: [1, 1, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 5 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 5
- tag width: 0.1
- position: [1, 0, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
- - id : 2 # use same as tag id
- type: "APRILTAG" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- tag id: 2
- tag width: 0.1
- position: [0, 1, 0]
- orientation: [0, 0, 0] # roll pitch yaw in degrees
- position fixed: true
- orientation fixed: true
-
diff --git a/demos/map_polyline_example.yaml b/demos/map_polyline_example.yaml
deleted file mode 100644
index d1cde10c538cfa7e6f5b6a4b117309e36426528d..0000000000000000000000000000000000000000
--- a/demos/map_polyline_example.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-map name: "Example of map of Polyline2D landmarks"
-
-nlandmarks: 4 # This must match the number of landmarks in the list that follows. Otherwise it is an error.
-
-landmarks:
-
- - id: 1
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [1, 1]
- orientation: [1]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: 0
- first_defined: false
- last_defined: false
- points:
- - [1, 1]
- - [1, 2]
- - [1, 3]
-
- - id: 4
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [4, 4]
- orientation: [4]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: -2
- first_defined: false
- last_defined: true
- points:
- - [4, 1]
- - [4, 2]
- - [4, 3]
- - [4, 4]
-
-
- - id: 6
- type: "POLYLINE 2D" # This must match the KEY used in the LandmarkFactory. Otherwise it is an error.
- position: [6, 6]
- orientation: [6]
- position fixed: true
- orientation fixed: true
- classification: 0
- first_id: 0
- first_defined: true
- last_defined: false
- points:
- - [6, 1]
- - [6, 2]
-
- - id: 7
- type: "AHP"
- position: [1, 2, 3, 4]
- descriptor: [1, 0, 1, 0, 1, 1, 0, 0]
-
\ No newline at end of file
diff --git a/demos/processor_image_feature.yaml b/demos/processor_image_feature.yaml
deleted file mode 100644
index a48c9e4277b483a0f67e4f856f72c0076a2cc2be..0000000000000000000000000000000000000000
--- a/demos/processor_image_feature.yaml
+++ /dev/null
@@ -1,22 +0,0 @@
-processor type: "IMAGE ORB"
-processor name: "ORB feature tracker"
-
-vision_utils:
- YAML file params: processor_image_vision_utils.yaml
-
-algorithm:
- maximum new features: 40
- minimum features for new keyframe: 40
- minimum response for new features: 80 #0.0005
- time tolerance: 0.01
- distance: 20
-
-noise:
- pixel noise std: 1 # pixels
-
-draw: # Used to control drawing options
- primary draw: true
- secondary draw: true
- detection roi: true
- tracking roi: false
-
diff --git a/demos/processor_image_vision_utils.yaml b/demos/processor_image_vision_utils.yaml
deleted file mode 100644
index 028f69ba6321802009765d346f2e735c6a018990..0000000000000000000000000000000000000000
--- a/demos/processor_image_vision_utils.yaml
+++ /dev/null
@@ -1,42 +0,0 @@
-sensor:
- type: "USB_CAM"
-
-detector:
- type: "ORB"
- nfeatures: 100
- scale factor: 1.2
- nlevels: 8
- edge threshold: 8 # 16
- first level: 0
- WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
- score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
- patch size: 15 # 31
-
-descriptor:
- type: "ORB"
- nfeatures: 100
- scale factor: 1.2
- nlevels: 8
- edge threshold: 8 # 16
- first level: 0
- WTA_K: 2 # See: http://docs.opencv.org/trunk/db/d95/classcv_1_1ORB.html#a180ae17d3300cf2c619aa240d9b607e5
- score type: 1 #enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
- patch size: 15 # 31
-
-matcher:
- type: "FLANNBASED"
- match type: 1 # Match type. MATCH = 1, KNNMATCH = 2, RADIUSMATCH = 3
- roi:
- width: 20
- height: 20
- min normalized score: 0.85
-
-algorithm:
- type: "ACTIVESEARCH"
- draw results: false
- grid horiz cells: 12
- grid vert cells: 8
- separation: 10
- min features to track: 5
- max new features: 40
- min response new features: 80
\ No newline at end of file
diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
deleted file mode 100644
index 8e8a6c8cd0b75c0366a7aa83db4f3d54e4687fa6..0000000000000000000000000000000000000000
--- a/demos/processor_imu.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 2.0 # seconds
- max buffer length: 20000 # motion deltas
- dist traveled: 2.0 # meters
- angle turned: 0.2 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: false
-
\ No newline at end of file
diff --git a/demos/processor_imu_no_vote.yaml b/demos/processor_imu_no_vote.yaml
deleted file mode 100644
index 678867b719b191b6ba980a5c712f5164a9f83e28..0000000000000000000000000000000000000000
--- a/demos/processor_imu_no_vote.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-time tolerance: 0.0025 # Time tolerance for joining KFs
-unmeasured perturbation std: 0.00001
-keyframe vote:
- max time span: 999999.0 # seconds
- max buffer length: 999999 # motion deltas
- dist traveled: 999999.0 # meters
- angle turned: 999999 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: false
-
\ No newline at end of file
diff --git a/demos/processor_imu_t1.yaml b/demos/processor_imu_t1.yaml
deleted file mode 100644
index b68740d245b4922a4a095b2a0ac1b2ce5becbd52..0000000000000000000000000000000000000000
--- a/demos/processor_imu_t1.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 0.9999 # seconds
- max buffer length: 10000 # motion deltas
- dist traveled: 10000 # meters
- angle turned: 10000 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: true
-
\ No newline at end of file
diff --git a/demos/processor_imu_t6.yaml b/demos/processor_imu_t6.yaml
deleted file mode 100644
index 511a917c7500abbb445c7bfb016737c881dc400a..0000000000000000000000000000000000000000
--- a/demos/processor_imu_t6.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-processor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main imu" # This is ignored. The name provided to the SensorFactory prevails
-unmeasured perturbation std: 0.00001
-time tolerance: 0.0025 # Time tolerance for joining KFs
-keyframe vote:
- max time span: 5.9999 # seconds
- max buffer length: 10000 # motion deltas
- dist traveled: 10000 # meters
- angle turned: 10000 # radians (1 rad approx 57 deg, approx 60 deg)
- voting_active: true
-
\ No newline at end of file
diff --git a/demos/processor_odom_3D.yaml b/demos/processor_odom_3D.yaml
deleted file mode 100644
index f501e333800ec1bbb4b7c751a32aa67a99bec74c..0000000000000000000000000000000000000000
--- a/demos/processor_odom_3D.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-processor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-processor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-time tolerance: 0.01 # seconds
-keyframe vote:
- max time span: 0.2 # seconds
- max buffer length: 10 # motion deltas
- dist traveled: 0.5 # meters
- angle turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)
\ No newline at end of file
diff --git a/demos/processor_tracker_landmark_apriltag.yaml b/demos/processor_tracker_landmark_apriltag.yaml
deleted file mode 100644
index e8b1fd02dc80ffedefafc44ae3af9898a873cb3b..0000000000000000000000000000000000000000
--- a/demos/processor_tracker_landmark_apriltag.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-processor type: "TRACKER LANDMARK APRILTAG"
-processor name: "tracker landmark apriltag example"
-
-detector parameters:
- quad_decimate: 1.5 # doing quad detection at lower resolution to speed things up (see end of file)
- quad_sigma: 0.8 # gaussian blur good for noisy images, may be recommended with quad_decimate. Kernel size adapted (see end of this file)
- nthreads: 8 # how many thread during tag detection (does not change much?)
- debug: false # write some debugging images
- refine_edges: true # better edge detection if quad_decimate > 1 (quite inexpensive, almost no diff)
- ippe_min_ratio: 3.0 # quite arbitrary, always > 1 (to deactive, set at 0 for example)
- ippe_max_rep_error: 2.0 # to deactivate, set at something big (100)
-
-tag widths:
- 0: 0.055
- 1: 0.055
- 2: 0.055
- 3: 0.055
-
-tag parameters:
- tag_family: "tag36h11"
- # tag_black_border: 1
- tag_width_default: 0.165 # used if tag width not specified
-
-
-noise:
- std_xy : 0.1 # m
- std_z : 0.1 # m
- std_rpy_degrees : 5 # degrees
- std_pix: 20 # pixel error
-
-vote:
- voting active: true
- min_time_vote: 0 # s
- max_time_vote: 0 # s
- min_features_for_keyframe: 12
- max_features_diff: 17
- nb_vote_for_every_first: 50
- enough_info_necessary: true # create kf if enough information to uniquely determine the KF position (necessary for apriltag_only slam)
-
-reestimate_last_frame: true # for a better prior on the new keyframe: use only if no motion processor
-add_3D_cstr: true # add 3D constraints between the KF so that they do not jump when using apriltag only
-
-
-# Annexes:
-### Quad decimate: the higher, the lower the resolution
-# Does nothing if <= 1.0
-# Only values taken into account:
-# 1.5, 2, 3, 4
-# 1.5 -> ~*2 speed up
-
-# Higher values use a "bad" code according to commentaries in the library, smaller do nothing
-### Gaussian blur table:
-# max sigma kernel size
-# 0.499 1 (disabled)
-# 0.999 3
-# 1.499 5
-# 1.999 7
diff --git a/demos/sensor_imu.yaml b/demos/sensor_imu.yaml
deleted file mode 100644
index 66b81a5288877362753612f7aa4b9222da009e8d..0000000000000000000000000000000000000000
--- a/demos/sensor_imu.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-sensor type: "IMU" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main IMU" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- a_noise: 0.053 # standard deviation of Acceleration noise (same for all the axis) in m/s2
- w_noise: 0.0011 # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
- ab_initial_stdev: 0.800 # m/s2 - initial bias
- wb_initial_stdev: 0.350 # rad/sec - initial bias
- ab_rate_stdev: 0.1 # m/s2/sqrt(s)
- wb_rate_stdev: 0.0400 # rad/s/sqrt(s)
\ No newline at end of file
diff --git a/demos/sensor_odom_3D.yaml b/demos/sensor_odom_3D.yaml
deleted file mode 100644
index 9ea77803548cfd9d033f54e40b6d92a72710afb8..0000000000000000000000000000000000000000
--- a/demos/sensor_odom_3D.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- disp_to_disp: 0.02 # m^2 / m
- disp_to_rot: 0.02 # rad^2 / m
- rot_to_rot: 0.01 # rad^2 / rad
- min_disp_var: 0.01 # m^2
- min_rot_var: 0.01 # rad^2
diff --git a/demos/sensor_odom_3D_HQ.yaml b/demos/sensor_odom_3D_HQ.yaml
deleted file mode 100644
index 08945ef842e46f28642f1be63ca95850b618a35e..0000000000000000000000000000000000000000
--- a/demos/sensor_odom_3D_HQ.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-sensor type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
-sensor name: "Main odometer" # This is ignored. The name provided to the SensorFactory prevails
-motion variances:
- disp_to_disp: 0.000001 # m^2 / m
- disp_to_rot: 0.000001 # rad^2 / m
- rot_to_rot: 0.000001 # rad^2 / rad
- min_disp_var: 0.00000001 # m^2
- min_rot_var: 0.00000001 # rad^2
\ No newline at end of file
diff --git a/serialization/CMakeLists.txt b/serialization/CMakeLists.txt
deleted file mode 100644
index a853ba8ec5158727fcd4bfd9752d6de398c5aefa..0000000000000000000000000000000000000000
--- a/serialization/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-add_subdirectory(cereal)
diff --git a/serialization/cereal/CMakeLists.txt b/serialization/cereal/CMakeLists.txt
deleted file mode 100644
index 1ae16bcd213401f6558a4ee80c2c5a8ef8c5f171..0000000000000000000000000000000000000000
--- a/serialization/cereal/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
-
-SET(HDRS_SERIALIZATION ${HDRS_SERIALIZATION}
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_core.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_geometry.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_eigen_sparse.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_homogeneous.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_local_parametrization_quaternion.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_node_base.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_sensor_intrinsic_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_sensor_odom2d_intrinsic.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_params_base.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_odom2d_params.h
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_processor_odom3d_params.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/serialization_time_stamp.h
-
- ${CMAKE_CURRENT_SOURCE_DIR}/archives.h
- ${CMAKE_CURRENT_SOURCE_DIR}/io.h
-
- PARENT_SCOPE)
diff --git a/serialization/cereal/archives.h b/serialization/cereal/archives.h
deleted file mode 100644
index d8c16fd180ef04049ceedaf268fa33782790d27a..0000000000000000000000000000000000000000
--- a/serialization/cereal/archives.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_ARCHIVE_H_
-#define _WOLF_IO_CEREAL_ARCHIVE_H_
-
-#include <cereal/archives/binary.hpp>
-#include <cereal/archives/json.hpp>
-#include <cereal/archives/portable_binary.hpp>
-#include <cereal/archives/xml.hpp>
-
-#endif /* _WOLF_IO_CEREAL_ARCHIVE_H_ */
diff --git a/serialization/cereal/io.h b/serialization/cereal/io.h
deleted file mode 100644
index 8a8e58c2d8a873b4d327e1c8639fc007cb8604aa..0000000000000000000000000000000000000000
--- a/serialization/cereal/io.h
+++ /dev/null
@@ -1,229 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_IO_H_
-#define _WOLF_SERIALIZATION_CEREAL_IO_H_
-
-#include <stdexcept>
-#include "archives.h"
-
-//#include <cereal/types/tuple.hpp>
-
-namespace wolf {
-namespace serialization {
-
-/// @todo demangle typeid.name ?
-template <typename T>
-inline const std::string& type_name(const T&)
-{
- static const std::string typeid_name = typeid(T).name();
- return typeid_name;
-}
-
-inline std::string extension(const std::string& file)
-{
- const std::size_t p = file.find_last_of(".");
- return (p != std::string::npos) ? file.substr(p) : "";
-}
-
-//struct Extensions
-//{
-// constexpr static const char* bin = ".bin";
-// constexpr static const char* json = ".json";
-// constexpr static const char* xml = ".xml";
-
-// constexpr static const char* fall_back = json;
-//};
-
-//enum class Extensions2 : std::size_t
-//{
-// BIN = 0,
-//// CBIN,
-// JSON,
-//// TEXT,
-// XML,
-//};
-
-//template <char... Chars>
-//struct constexp_str
-//{
-// using type = constexp_str<Chars...>;
-
-// virtual ~constexp_str() = default;
-
-// constexpr static const char value[sizeof...(Chars)+1] = {Chars..., '\0'};
-
-// constexpr static std::size_t size() { return sizeof...(Chars); }
-
-// constexpr static const char* c_str() { return &value[0]; }
-
-//// constexpr static bool comp(const std::string& s) { return s == value; }
-
-// /*constexpr*/ bool operator == (const std::string& s) { return s == value; }
-
-// constexpr /*static*/ operator const char* () { return c_str(); }
-// constexpr /*static*/ operator std::string& () { return c_str(); }
-//};
-
-struct Extensions
-{
-// template <char... Chars>
-// struct EXT : constexp_str<Chars...>
-// {
-// //
-// };
-
-// struct BIN : EXT<'.','b','i','n'> { };
-// struct XML : EXT<'.','x','m','l'> { };
-// struct JSON : EXT<'.','j','s','o','n'> { };
-
- struct EXT { virtual ~EXT() = default; };
-
- struct BIN : EXT
- {
- constexpr static const char* value = ".bin";
- bool operator == (const std::string& s) { return value == s; }
- };
-
- struct XML : EXT
- {
- constexpr static const char* value = ".xml";
- bool operator == (const std::string& s) { return value == s; }
- };
-
- struct JSON : EXT
- {
- constexpr static const char* value = ".json";
- bool operator == (const std::string& s) { return value == s; }
- };
-};
-
-template <typename Ar>
-void serialize_pack(Ar&&)
-{
- // end of expansion
-}
-
-template <typename Ar, typename T, typename... Args>
-void serialize_pack(Ar&& archive, T&& object, Args&&... args)
-{
- archive( cereal::make_nvp(type_name(object), std::forward<T>(object)) );
- serialize_pack(archive, std::forward<Args>(args)...);
-}
-
-template <typename Ar, typename S, typename T, typename... Args>
-void serialize(S& stream, T&& object, Args&&... args)
-{
- Ar archive(stream);
- archive( cereal::make_nvp(type_name(object), std::forward<T>(object)) );
-
- serialize_pack(archive, std::forward<Args>(args)...);
-}
-
-template <typename EXT, typename InAr, typename OutAr>
-struct Serializer
-{
- template <typename S, typename... T>
- static void serialize_in(S& stream, T&... object)
- {
- serialize<InAr>(stream, object...);
- }
-
- template <typename S, typename... T>
- static void serialize_out(S& stream, T&&... object)
- {
- serialize<OutAr>(stream, std::forward<T>(object)...);
- }
-
- template <typename... T>
- static void save(std::string filename, T&&... o)
- {
- const std::string ext = serialization::extension(filename);
-
- if (ext != EXT::value) filename += EXT::value;
-
- std::ofstream os(filename);
- serialize_out(os, std::forward<T>(o)...);
- }
-
- template <typename... T>
- static void load(std::string filename, T&... o)
- {
- const std::string ext = serialization::extension(filename);
-
- if (ext != EXT::value) filename += EXT::value;
-
- std::ifstream is(filename);
- serialize_in(is, o...);
- }
-};
-
-using SerializerBin = Serializer<Extensions::BIN,
- cereal::BinaryInputArchive,
- cereal::BinaryOutputArchive>;
-
-using SerializerXML = Serializer<Extensions::XML,
- cereal::XMLInputArchive,
- cereal::XMLOutputArchive>;
-
-using SerializerJSON = Serializer<Extensions::JSON,
- cereal::JSONInputArchive,
- cereal::JSONOutputArchive>;
-
-} /* namespace serialization */
-
-template <typename... T>
-void save(const std::string& filename, T&&... o)
-throw(std::runtime_error)
-{
- const std::string ext = serialization::extension(filename);
-
- if (ext == serialization::Extensions::BIN::value)
- {
- serialization::SerializerBin::save(filename, std::forward<T>(o)...);
- }
- else if (ext == serialization::Extensions::JSON::value)
- {
- serialization::SerializerJSON::save(filename, std::forward<T>(o)...);
- }
- else if (ext == serialization::Extensions::XML::value)
- {
- serialization::SerializerXML::save(filename, std::forward<T>(o)...);
- }
- else if (ext == "") // falback is json
- {
- serialization::SerializerJSON::save(filename, std::forward<T>(o)...);
- }
- else
- {
- throw std::runtime_error("Unknown file extension : " + filename);
- }
-}
-
-template <typename... T>
-void load(const std::string& filename, T&... o)
-{
- const std::string ext = serialization::extension(filename);
-
- if (ext == serialization::Extensions::BIN::value)
- {
- serialization::SerializerBin::load(filename, o...);
- }
- else if (ext == serialization::Extensions::XML::value)
- {
- serialization::SerializerXML::load(filename, o...);
- }
- else if (ext == serialization::Extensions::JSON::value)
- {
- serialization::SerializerJSON::load(filename, o...);
- }
- else if (ext == "") // falback is json
- {
- serialization::SerializerJSON::load(filename, o...);
- }
- else
- {
- throw std::runtime_error("Unknown file extension : " + filename);
- }
-}
-
-} /* namespace wolf */
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_IO_H_ */
diff --git a/serialization/cereal/serialization_eigen_core.h b/serialization/cereal/serialization_eigen_core.h
deleted file mode 100644
index 8fb5b9b0c99637e7b4aed9efb3aaf68007aafb79..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_core.h
+++ /dev/null
@@ -1,125 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_H_
-#define _WOLF_IO_CEREAL_EIGEN_H_
-
-// Wolf includes
-#include <Eigen/Dense>
-#include <cereal/cereal.hpp>
-
-namespace cereal {
-
-/**
- * @brief Save Eigen::Matrix<...> to text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_output_serializable<BinaryData<_Scalar>, Archive>::value,
-void>::type save(Archive& ar,
- const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows = mat.rows();
- decltype(mat.cols()) cols = mat.cols();
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-}
-
-/**
- * @brief Save Eigen::Matrix<...> to binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_output_serializable<BinaryData<_Scalar>, Archive>::value,
-void>::type save(Archive& ar,
- const Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows = mat.rows();
- decltype(mat.cols()) cols = mat.cols();
-
- ar(rows);
- ar(cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-/**
- * @brief Load compile-time sized Eigen::Matrix from text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- _Rows != Eigen::Dynamic and _Cols != Eigen::Dynamic,
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-}
-
-/**
- * @brief Load dynamic sized Eigen::Matrix from text based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<!traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- (_Rows == Eigen::Dynamic or _Cols == Eigen::Dynamic),
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(cereal::make_nvp("rows", rows));
- ar(cereal::make_nvp("cols", cols));
-
- /// @todo find out something
- std::cerr << "Saving Eigen type to text-based archive is NOT supported !\n";
-
- //mat.resize(rows, cols);
-}
-
-/**
- * @brief Load compile-time sized Eigen::Matrix from binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- _Rows != Eigen::Dynamic and _Cols != Eigen::Dynamic,
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(rows);
- ar(cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-/**
- * @brief Load dynamic sized Eigen::Matrix from binary based archives
- */
-template<class Archive, typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline typename std::enable_if<traits::is_input_serializable<BinaryData<_Scalar>, Archive>::value and
- (_Rows == Eigen::Dynamic or _Cols == Eigen::Dynamic),
-void>::type load(Archive& ar,
- Eigen::Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>& mat)
-{
- decltype(mat.rows()) rows;
- decltype(mat.cols()) cols;
-
- ar(rows);
- ar(cols);
-
- mat.resize(rows, cols);
-
- ar(binary_data(mat.data(), static_cast<std::size_t>(rows * cols * sizeof(_Scalar))));
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_H_ */
diff --git a/serialization/cereal/serialization_eigen_geometry.h b/serialization/cereal/serialization_eigen_geometry.h
deleted file mode 100644
index f5d3ac61fa92c85d5c2b98670e86e5c6d3d68c24..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_geometry.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-#define _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-
-// Wolf includes
-#include <Eigen/Geometry>
-
-#include "serialization_eigen_core.h"
-
-namespace cereal {
-
-template<class Archive, typename _Scalar, int _Dim, int _Mode, int _Options>
-inline void save(Archive& ar,
- const Eigen::Transform<_Scalar, _Dim, _Mode, _Options>& t)
-{
- save(ar, t.matrix());
-}
-
-template<class Archive, typename _Scalar, int _Dim, int _Mode, int _Options>
-inline void load(Archive& ar,
- Eigen::Transform<_Scalar, _Dim, _Mode, _Options>& t)
-{
- load(ar, t.matrix());
-}
-
-template<class Archive, typename _Scalar>
-void serialize(Archive & ar,
- Eigen::Quaternion<_Scalar>& q,
- const std::uint32_t /*version*/)
-{
- ar(cereal::make_nvp("w", q.w()));
- ar(cereal::make_nvp("x", q.x()));
- ar(cereal::make_nvp("y", q.y()));
- ar(cereal::make_nvp("z", q.z()));
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_ */
diff --git a/serialization/cereal/serialization_eigen_sparse.h b/serialization/cereal/serialization_eigen_sparse.h
deleted file mode 100644
index 9039b6920bc74abb3b4ff9efa4e0b935674ca53f..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_eigen_sparse.h
+++ /dev/null
@@ -1,79 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-#define _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_
-
-// Wolf includes
-#include <Eigen/Sparse>
-
-#include "serialization_eigen_core.h"
-#include <cereal/types/vector.hpp>
-
-namespace cereal {
-
-template<class Archive, typename Scalar, typename Index>
-inline void save(Archive& ar,
- const Eigen::Triplet<Scalar, Index>& t)
-{
- ar(cereal::make_nvp("row", t.row()));
- ar(cereal::make_nvp("col", t.col()));
- ar(cereal::make_nvp("value", t.value()));
-}
-
-template<class Archive, typename Scalar, typename Index>
-inline void load(Archive& ar,
- Eigen::Triplet<Scalar, Index>& t)
-{
- Index row, col;
- Scalar value;
-
- ar(cereal::make_nvp("row", row));
- ar(cereal::make_nvp("col", col));
- ar(cereal::make_nvp("value", value));
-
- t = Eigen::Triplet<Scalar, Index>(row, col, value);
-}
-
-template <class Archive, typename _Scalar, int _Options, typename _Index>
-void save(Archive& ar,
- const Eigen::SparseMatrix<_Scalar, _Options, _Index>& m)
-{
- _Index inner_size = m.innerSize();
- _Index outer_size = m.outerSize();
-
- using Triplet = Eigen::Triplet<_Scalar>;
- std::vector<Triplet> triplets;
-
- for (_Index i=0; i < outer_size; ++i)
- for (typename Eigen::SparseMatrix<_Scalar, _Options, _Index>::InnerIterator it(m,i); it; ++it)
- triplets.emplace_back( it.row(), it.col(), it.value() );
-
- ar(cereal::make_nvp("inner_size", inner_size));
- ar(cereal::make_nvp("outer_size", outer_size));
- ar(cereal::make_nvp("triplets", triplets));
-}
-
-template <class Archive, typename _Scalar, int _Options, typename _Index>
-void load(Archive& ar,
- Eigen::SparseMatrix<_Scalar, _Options, _Index>& m)
-{
- _Index inner_size;
- _Index outer_size;
-
- ar(cereal::make_nvp("inner_size", inner_size));
- ar(cereal::make_nvp("outer_size", outer_size));
-
- _Index rows = (m.IsRowMajor)? outer_size : inner_size;
- _Index cols = (m.IsRowMajor)? inner_size : outer_size;
-
- m.resize(rows, cols);
-
- using Triplet = Eigen::Triplet<_Scalar>;
- std::vector<Triplet> triplets;
-
- ar(cereal::make_nvp("triplets", triplets));
-
- m.setFromTriplets(triplets.begin(), triplets.end());
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_EIGEN_GEOMETRY_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
deleted file mode 100644
index 1385e1af088678e853c0ab0ecb4f5d6a34f103a0..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_base.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
-#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
-
-#include "base/state_block/local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-// Since classes deriving from LocalParametrizationBase
-// have default constructor calling the non-default
-// LocalParametrizationBase constructor with pre-defined
-// arguments, there is nothing to save here.
-template<class Archive>
-inline void serialize(
- Archive& /*ar*/,
- wolf::LocalParametrizationBase& /*lpb*/,
- std::uint32_t const /*file_version*/)
-{
- //
-}
-
-} //namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_homogeneous.h b/serialization/cereal/serialization_local_parametrization_homogeneous.h
deleted file mode 100644
index 9fcc656d5b86c51eb3995d1a11fbdcc80b1e98c4..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_homogeneous.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
-#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
-
-#include "core/local_parametrization_homogeneous.h"
-
-#include "serialization_local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationHomogeneous,
- "LocalParametrizationHomogeneous");
-
-namespace cereal {
-
-template<class Archive>
-inline void serialize(
- Archive& ar,
- wolf::LocalParametrizationHomogeneous& lp,
- std::uint32_t const /*file_version*/)
-{
- ar( cereal::make_nvp("LocalParametrizationBase",
- cereal::base_class<wolf::LocalParametrizationBase>(&lp)) );
-}
-
-} //namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_ */
diff --git a/serialization/cereal/serialization_local_parametrization_quaternion.h b/serialization/cereal/serialization_local_parametrization_quaternion.h
deleted file mode 100644
index 66fe30a361f0f1878a9444d9fb487ad2a068ad0d..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_local_parametrization_quaternion.h
+++ /dev/null
@@ -1,30 +0,0 @@
-#ifndef WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
-#define WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
-
-#include "core/local_parametrization_quaternion.h"
-
-#include "serialization_local_parametrization_base.h"
-
-#include <cereal/cereal.hpp>
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationQuaternion<wolf::DQ_LOCAL>,
- "wolf_LocalParametrizationQuaternion_DQ_LOCAL")
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::LocalParametrizationQuaternion<wolf::DQ_GLOBAL>,
- "wolf_LocalParametrizationQuaternion_DQ_GLOBAL")
-
-namespace cereal {
-
-template<class Archive, unsigned int DeltaReference>
-inline void serialize(
- Archive &ar,
- wolf::LocalParametrizationQuaternion<DeltaReference> &lp,
- const unsigned int /*file_version*/)
-{
- ar( cereal::make_nvp("LocalParametrizationBase",
- cereal::base_class<wolf::LocalParametrizationBase>(&lp)) );
-}
-
-} //namespace boost
-
-#endif /* WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_ */
diff --git a/serialization/cereal/serialization_node_base.h b/serialization/cereal/serialization_node_base.h
deleted file mode 100644
index a2c592d6982485de2aebf189e09e764b68022783..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_node_base.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_NODE_BASE_H_
-#define _WOLF_IO_CEREAL_NODE_BASE_H_
-
-// Wolf includes
-#include "core/node_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace wolf {
-
-struct NodeBase::Serializer {
-
- template <class Archive>
- static void serialize(Archive& ar, NodeBase& o, std::uint32_t const /*version*/)
- {
- ar( cereal::make_nvp("node_class_", o.node_category_) );
- ar( cereal::make_nvp("node_type_", o.node_type_) );
- ar( cereal::make_nvp("node_name_", o.node_name_) );
- ar( cereal::make_nvp("node_id_", o.node_id_) );
-
-// ar( cereal::make_nvp("problem_ptr_", o.problem_ptr_) );
-
- // Not sure what to do with this guy ...
- //ar( cereal::make_nvp("node_id_count_", o.node_id_count_) );
- }
-
- template <class Archive>
- static void load_and_construct( Archive& ar, cereal::construct<wolf::NodeBase>& construct,
- std::uint32_t const /*version*/ )
- {
- decltype(std::declval<wolf::NodeBase>().getCategory()) nb_class;
- decltype(std::declval<wolf::NodeBase>().getType()) nb_type;
- decltype(std::declval<wolf::NodeBase>().getName()) nb_name;
-
- ar( cereal::make_nvp("node_class_", nb_class) );
- ar( cereal::make_nvp("node_type_", nb_type) );
- ar( cereal::make_nvp("node_name_", nb_name) );
-
- construct( nb_class, nb_type, nb_name );
-
- ar( cereal::make_nvp("node_id_", construct->node_id_) );
-
-// ar( cereal::make_nvp("problem_ptr_", construct->problem_ptr_) );
-
- // Not sure what to do with this guy ...
- //ar( cereal::make_nvp("node_id_count_", construct->node_id_count_) );
- }
-};
-
-} // namespace wolf
-
-namespace cereal {
-
-/// @note No default constructor thus the need
-/// for these specializations
-template <>
-struct LoadAndConstruct<wolf::NodeBase>
-{
- template <class Archive>
- static void load_and_construct( Archive& ar,
- cereal::construct<wolf::NodeBase>& construct,
- std::uint32_t const version )
- {
- wolf::NodeBase::Serializer::load_and_construct(ar, construct, version);
- }
-};
-
-template <class Archive>
-void serialize(Archive& ar, wolf::NodeBase& o, std::uint32_t const version)
-{
- wolf::NodeBase::Serializer::serialize(ar, o, version);
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_NODE_BASE_H_ */
diff --git a/serialization/cereal/serialization_processor_odom2d_params.h b/serialization/cereal/serialization_processor_odom2d_params.h
deleted file mode 100644
index dc0416b94634ef8415919c26fa972c86edb99a00..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_odom2d_params.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
-
-// Wolf includes
-#include "core/processor/processor_odom_2D.h"
-#include "serialization_processor_params_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsOdom2D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("ProcessorParamsBase",
- cereal::base_class<wolf::ProcessorParamsBase>(&o)) );
-
- ar( cereal::make_nvp("cov_det_th_", o.cov_det) );
- ar( cereal::make_nvp("dist_traveled_th_", o.dist_traveled_th_) );
- ar( cereal::make_nvp("elapsed_time_th_", o.elapsed_time_th_) );
- ar( cereal::make_nvp("theta_traveled_th_", o.theta_traveled_th_) );
- ar( cereal::make_nvp("unmeasured_perturbation_std_",
- o.unmeasured_perturbation_std) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorParamsOdom2D, "ProcessorParamsOdom2D")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_ */
diff --git a/serialization/cereal/serialization_processor_odom3d_params.h b/serialization/cereal/serialization_processor_odom3d_params.h
deleted file mode 100644
index d2fd7c077d868e4dafcfa209c10767415f092ab8..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_odom3d_params.h
+++ /dev/null
@@ -1,27 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
-
-// Wolf includes
-#include "core/processor/processor_odom_3D.h"
-#include "serialization_processor_params_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsOdom3D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("ProcessorParamsBase",
- cereal::base_class<wolf::ProcessorParamsBase>(&o)) );
-
- ar( cereal::make_nvp("angle_turned", o.angle_turned) );
- ar( cereal::make_nvp("dist_traveled", o.dist_traveled) );
- ar( cereal::make_nvp("max_buff_length", o.max_buff_length) );
- ar( cereal::make_nvp("max_time_span", o.max_time_span) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorParamsOdom3D, "ProcessorOdom3DParams")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_ */
diff --git a/serialization/cereal/serialization_processor_params_base.h b/serialization/cereal/serialization_processor_params_base.h
deleted file mode 100644
index 03ea158c07ea0c18516400a6c51618998efb9473..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_processor_params_base.h
+++ /dev/null
@@ -1,22 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
-#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
-
-// Wolf includes
-#include "core/processor/processor_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorParamsBase& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("type", o.type) );
- ar( cereal::make_nvp("name", o.name) );
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_ */
diff --git a/serialization/cereal/serialization_sensor_intrinsic_base.h b/serialization/cereal/serialization_sensor_intrinsic_base.h
deleted file mode 100644
index 86b2a9b482eb61dd290dd2d2723c41415ca11dae..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_sensor_intrinsic_base.h
+++ /dev/null
@@ -1,25 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
-#define _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
-
-// Wolf includes
-#include "core/sensor/sensor_base.h"
-
-#include <cereal/cereal.hpp>
-#include <cereal/types/polymorphic.hpp>
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::IntrinsicsBase& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("type", o.type) );
- ar( cereal::make_nvp("name", o.name) );
-}
-
-} // namespace cereal
-
-// No need to register base
-//CEREAL_REGISTER_TYPE_WITH_NAME(wolf::IntrinsicsBase, "IntrinsicsBase");
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_ */
diff --git a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
deleted file mode 100644
index 17d4160b3751d0a13f0f28836234b500e6674400..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#ifndef _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
-#define _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
-
-// Wolf includes
-#include "core/sensor/sensor_odom_2D.h"
-
-#include "serialization_sensor_intrinsic_base.h"
-
-namespace cereal {
-
-template <class Archive>
-void serialize(Archive& ar, wolf::IntrinsicsOdom2D& o,
- std::uint32_t const /*version*/)
-{
- ar( cereal::make_nvp("IntrinsicsBase",
- cereal::base_class<wolf::IntrinsicsBase>(&o)) );
-
- ar( cereal::make_nvp("k_disp_to_disp", o.k_disp_to_disp) );
- ar( cereal::make_nvp("k_rot_to_rot", o.k_rot_to_rot) );
-}
-
-} // namespace cereal
-
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::IntrinsicsOdom2D, "IntrinsicsOdom2D")
-
-#endif /* _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_ */
diff --git a/serialization/cereal/serialization_time_stamp.h b/serialization/cereal/serialization_time_stamp.h
deleted file mode 100644
index f0c978d36415be7598f2ba6eb5b83bd9a5cb0a61..0000000000000000000000000000000000000000
--- a/serialization/cereal/serialization_time_stamp.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef _WOLF_IO_CEREAL_TIME_STAMP_H_
-#define _WOLF_IO_CEREAL_TIME_STAMP_H_
-
-// Wolf includes
-#include "core/time_stamp.h"
-
-#include <cereal/cereal.hpp>
-
-namespace cereal {
-
-/// @note serialization versionning raise
-/// a compile error here...
-template <class Archive>
-void save(Archive& ar, const wolf::TimeStamp& o/*, std::uint32_t const version*/)
-{
- ar( cereal::make_nvp("value", o.get()) );
-}
-
-template <class Archive>
-void load(Archive& ar, wolf::TimeStamp& o/*, std::uint32_t const version*/)
-{
- auto val = o.get();
-
- ar( cereal::make_nvp("value", val) );
-
- o.set(val);
-}
-
-} // namespace cereal
-
-#endif /* _WOLF_IO_CEREAL_TIME_STAMP_H_ */
diff --git a/test/serialization/CMakeLists.txt b/test/serialization/CMakeLists.txt
deleted file mode 100644
index 6902132bd458245e2e45012662fdcf0b348b7d4a..0000000000000000000000000000000000000000
--- a/test/serialization/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-# cereal
-IF(cereal_FOUND)
- add_subdirectory(cereal)
-ENDIF(cereal_FOUND)
diff --git a/test/serialization/cereal/CMakeLists.txt b/test/serialization/cereal/CMakeLists.txt
deleted file mode 100644
index 733a36e25921c4f7c142d59884fb5c9b7dd9e4e4..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/CMakeLists.txt
+++ /dev/null
@@ -1,43 +0,0 @@
-# NodeBase serialization class test
-wolf_add_gtest(gtest_cereal_serialization_node_base gtest_serialization_node_base.cpp)
-target_link_libraries(gtest_cereal_serialization_node_base ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_local_parametrization
- gtest_serialization_local_parametrization.cpp)
-target_link_libraries(gtest_cereal_serialization_local_parametrization ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_sensor_intrinsic_base
- gtest_serialization_sensor_intrinsic_base.cpp)
-target_link_libraries(gtest_cereal_serialization_sensor_intrinsic_base ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_sensor_odom2d_intrinsic
- gtest_serialization_sensor_odom2d_intrinsic.cpp)
-target_link_libraries(gtest_cereal_serialization_sensor_odom2d_intrinsic ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_save_load
- gtest_serialization_save_load.cpp)
-target_link_libraries(gtest_cereal_serialization_save_load ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_processor_odom3d_params
- gtest_serialization_processor_odom3d_params.cpp)
-target_link_libraries(gtest_cereal_serialization_processor_odom3d_params ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_processor_odom2d_params
- gtest_serialization_processor_odom2d_params.cpp)
-target_link_libraries(gtest_cereal_serialization_processor_odom2d_params ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_time_stamp
- gtest_serialization_time_stamp.cpp)
-target_link_libraries(gtest_cereal_serialization_time_stamp ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_eigen_core
- gtest_serialization_eigen_core.cpp)
-target_link_libraries(gtest_cereal_serialization_eigen_core ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_eigen_geometry
- gtest_serialization_eigen_geometry.cpp)
-target_link_libraries(gtest_cereal_serialization_eigen_geometry ${PROJECT_NAME})
-
-wolf_add_gtest(gtest_cereal_serialization_eigen_sparse
- gtest_serialization_eigen_sparse.cpp)
-target_link_libraries(gtest_cereal_serialization_eigen_sparse ${PROJECT_NAME})
diff --git a/test/serialization/cereal/gtest_serialization_eigen_core.cpp b/test/serialization/cereal/gtest_serialization_eigen_core.cpp
deleted file mode 100644
index 28859dd7a5b7db706e041489341bf4c010eb126e..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_eigen_core.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_eigen_core.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationEigen : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationEigen()
- {
- nb_ = f_mat_t::Random();
-
- dnb_ = d_mat_t::Random(10, 10);
- }
-
- const std::string path_to_io = "/tmp/";
- const std::string filename = "serialization_eigen";
-
- const std::vector<std::string> exts = {".bin"/*, ".xml", ".json"*/};
-
- using f_mat_t = Eigen::Matrix<double, 5, 5>;
-
- using d_mat_t = Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>;
-
- f_mat_t nb_;
-
- d_mat_t dnb_;
-};
-
-TEST_F(WolfTestCerealSerializationEigen,
- CerealSerializationEigenFixedMat)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, nb_ ) )
- << "Failed on saving " << full_path;
-
- WolfTestCerealSerializationEigen::f_mat_t nb_load;
-
- ASSERT_NO_THROW( wolf::load( full_path, nb_load ) )
- << "Failed on loading " << full_path;
-
- EXPECT_EQ(nb_load, nb_) << full_path;
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationEigen::"
- "CerealSerializationEigenFixedMat !\n");
-}
-
-TEST_F(WolfTestCerealSerializationEigen,
- CerealSerializationEigenDynamicMat)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, dnb_ ) )
- << "Failed on saving " << full_path;
-
- WolfTestCerealSerializationEigen::d_mat_t dnb_load;
-
- ASSERT_NO_THROW( wolf::load( full_path, dnb_load ) )
- << "Failed on loading " << full_path;
-
- EXPECT_EQ(dnb_load, dnb_) << full_path;
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationEigen::"
- "CerealSerializationEigenDynamicMat !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
deleted file mode 100644
index 87cafb4d5f171bafb74670348cd562ad49b1d306..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "core/common/wolf.h"
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_eigen_geometry.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationEigenGeo : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationEigenGeo()
- {
- iso_2d_ = Eigen::Isometry2d(Eigen::Rotation2Dd(0.17));
- iso_2d_.translation() << 0.5, 1.8;
-
- q_d_ = Eigen::Vector4d().setRandom().normalized();
-
- iso_3d_ = Eigen::Isometry3d(q_d_);
- iso_3d_.translation() << -7.245, +3.88, 0.0001;
- }
-
- const std::string path_to_io = "/tmp/";
- const std::string filename = "serialization_eigen_geo";
-
- const std::vector<std::string> exts = {".bin"/*, ".xml", ".json"*/};
-
- Eigen::Isometry2d iso_2d_;
- Eigen::Isometry3d iso_3d_;
- Eigen::Quaterniond q_d_;
-};
-
-TEST_F(WolfTestCerealSerializationEigenGeo,
- CerealSerializationEigenIso2d)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, iso_2d_, iso_3d_, q_d_) )
- << "Failed on saving " << full_path;
-
- Eigen::Isometry2d iso_2d_loaded;
- Eigen::Isometry3d iso_3d_loaded;
- Eigen::Quaterniond q_d_loaded;
-
- ASSERT_NO_THROW( wolf::load( full_path, iso_2d_loaded, iso_3d_loaded, q_d_loaded) )
- << "Failed on loading " << full_path;
-
- ASSERT_MATRIX_APPROX(iso_2d_.matrix(), iso_2d_loaded.matrix(), wolf::Constants::EPS);
- ASSERT_MATRIX_APPROX(iso_3d_.matrix(), iso_3d_loaded.matrix(), wolf::Constants::EPS);
- ASSERT_MATRIX_APPROX(q_d_.coeffs(), q_d_loaded.coeffs(), wolf::Constants::EPS);
- }
-
- PRINT_TEST_FINISHED;
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
deleted file mode 100644
index 0b803afdd30778a58b9536343c5ba5248ec8a148..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "core/common/wolf.h"
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_eigen_sparse.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <fstream>
-
-class WolfTestCerealSerializationEigenSparse : public testing::Test
-{
-public:
-
- using triplet_t = Eigen::Triplet<double>;
- using sparse_mat_t = Eigen::SparseMatrix<double>;
-
- WolfTestCerealSerializationEigenSparse()
- {
- triplet_list_.reserve(10);
-
- for(int i=0; i<10; ++i)
- triplet_list_.emplace_back(i,i,i*5);
-
- m_.resize(10, 10);
- m_.setFromTriplets(triplet_list_.begin(), triplet_list_.end());
- }
-
- const std::string path_to_io = "/tmp/";
- const std::string filename_t = "serialization_eigen_triplet";
- const std::string filename_m = "serialization_eigen_sparse";
-
- const std::vector<std::string> exts = {".bin", ".xml", ".json"};
-
- triplet_t t_ = Eigen::Triplet<double>(1, 2, 5.5);
-
- std::vector<triplet_t> triplet_list_;
- Eigen::SparseMatrix<double> m_;
-};
-
-TEST_F(WolfTestCerealSerializationEigenSparse,
- CerealSerializationEigenTriplet)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename_t + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, t_) )
- << "Failed on saving " << full_path;
-
- triplet_t t;
-
- ASSERT_NO_THROW( wolf::load( full_path, t) )
- << "Failed on loading " << full_path;
-
- ASSERT_EQ(t_.row(), t.row());
- ASSERT_EQ(t_.col(), t.col());
- ASSERT_EQ(t_.value(), t.value());
- }
-
- PRINT_TEST_FINISHED;
-}
-
-TEST_F(WolfTestCerealSerializationEigenSparse,
- CerealSerializationEigenSparseMatrix)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename_m + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, m_) )
- << "Failed on saving " << full_path;
-
- sparse_mat_t m;
-
- ASSERT_NO_THROW( wolf::load( full_path, m) )
- << "Failed on loading " << full_path;
-
- ASSERT_EQ(m_.rows(), m.rows());
- ASSERT_EQ(m_.cols(), m.cols());
-
- std::vector<triplet_t> triplet_list;
- triplet_list.reserve(10);
-
- for (int k=0; k<m.outerSize(); ++k)
- for (sparse_mat_t::InnerIterator it(m, k); it; ++it)
- {
- triplet_list.emplace_back(it.row(), it.col(), it.value());
- }
-
- ASSERT_EQ(triplet_list_.size(), triplet_list.size());
-
- for (int i=0; i<triplet_list_.size(); ++i)
- {
- ASSERT_EQ(triplet_list_[i].row(), triplet_list[i].row());
- ASSERT_EQ(triplet_list_[i].col(), triplet_list[i].col());
- ASSERT_EQ(triplet_list_[i].value(), triplet_list[i].value());
- }
- }
-
- PRINT_TEST_FINISHED;
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_local_parametrization.cpp b/test/serialization/cereal/gtest_serialization_local_parametrization.cpp
deleted file mode 100644
index 3df34a27aa683fb5099cb8c108a25fe0f473f31b..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_local_parametrization.cpp
+++ /dev/null
@@ -1,571 +0,0 @@
-/*
- * gtest_node_base_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_local_parametrization_quaternion.h"
-#include "../../../serialization/cereal/serialization_local_parametrization_homogeneous.h"
-
-#include "../../../serialization/cereal/archives.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-///////////////////////////////////////
-/// LocalParametrizationHomogeneous ///
-///////////////////////////////////////
-
-const std::string path_to_io = "/tmp/";
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousXML)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousPtrXML)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_ptr_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationHomogeneous>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_ptr_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationHomogeneous>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousPtrXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousJSON)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousPtrJSON)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_ptr_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationHomogeneous>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_ptr_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationHomogeneous>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousPtrJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousBIN)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- wolf::LocalParametrizationHomogeneous local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousBIN !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationHomogeneousPtrBIN)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_ptr_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationHomogeneous>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_ptr_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationHomogeneous>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationHomogeneousPtrBIN !\n");
-}
-
-//////////////////////////////////////
-/// LocalParametrizationQuaternion ///
-//////////////////////////////////////
-
-//////////////////////////////////////
-/// LOCAL ///
-//////////////////////////////////////
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionXML)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionPtrXML)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_ptr_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionLocal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_ptr_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionLocal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionPtrXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionJSON)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionPtrJSON)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_ptr_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionLocal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_ptr_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionLocal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionPtrJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionBIN)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionLocal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionBIN !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionPtrBIN)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quat_ptr_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionLocal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quat_ptr_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionLocal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionPtrBIN !\n");
-}
-
-//////////////////////////////////////
-/// GLOBAL ///
-//////////////////////////////////////
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalXML)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalPtrXML)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_ptr_serialization.xml");
- cereal::XMLOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionGlobal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_ptr_serialization.xml");
- cereal::XMLInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionGlobal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalPtrXML !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalJSON)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalPtrJSON)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_ptr_serialization.json");
- cereal::JSONOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionGlobal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_ptr_serialization.json");
- cereal::JSONInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionGlobal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalPtrJSON !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalBIN)
-{
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- wolf::LocalParametrizationQuaternionGlobal local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h.getGlobalSize(), 4);
- ASSERT_EQ(local_param_h.getLocalSize(), 3);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalBIN !\n");
-}
-
-TEST(TestSerialization, SerializationLocalParametrizationQuaternionGlobalPtrBIN)
-{
- using LocalParametrizationPtr = std::shared_ptr<wolf::LocalParametrizationBase> ;
-
- {
- std::ofstream os(path_to_io + "local_parametrization_quatg_ptr_serialization.bin");
- cereal::BinaryOutputArchive archive(os);
-
- LocalParametrizationPtr local_param_h =
- std::make_shared<wolf::LocalParametrizationQuaternionGlobal>();
-
- ASSERT_NO_THROW( archive( local_param_h ) );
- }
-
- {
- std::ifstream is(path_to_io + "local_parametrization_quatg_ptr_serialization.bin");
- cereal::BinaryInputArchive archive(is);
-
- LocalParametrizationPtr local_param_h;
-
- ASSERT_NO_THROW( archive( local_param_h ) );
-
- ASSERT_EQ(local_param_h->getGlobalSize(), 4);
- ASSERT_EQ(local_param_h->getLocalSize(), 3);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::LocalParametrizationQuaternionGlobal>(local_param_h) != nullptr);
- }
-
- PRINTF("All good at TestSerialization::SerializationLocalParametrizationQuaternionGlobalPtrBIN !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_node_base.cpp b/test/serialization/cereal/gtest_serialization_node_base.cpp
deleted file mode 100644
index 8b6140fe70f6afe484249361a516b59d8b5dcf7b..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_node_base.cpp
+++ /dev/null
@@ -1,247 +0,0 @@
-/*
- * gtest_node_base_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_node_base.h"
-
-#include "../../../serialization/cereal/archives.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationNodeBase : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationNodeBase() /*:
- nb(nb_class),
- nb_ptr(std::make_shared<wolf::NodeBase>(nb_class))*/
- {
- //
- }
-
- const std::string path_to_io = "/tmp/";
-
- decltype(std::declval<wolf::NodeBase>().getCategory()) nb_class = "Foo";
- decltype(std::declval<wolf::NodeBase>().getCategory()) nb_type = "Bar";
- decltype(std::declval<wolf::NodeBase>().getCategory()) nb_name = "Dummy";
-
- decltype(std::declval<wolf::NodeBase>().nodeId()) id;
-
-// wolf::NodeBase nb;
-// wolf::NodeBasePtr nb_ptr;
-};
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBaseXML)
-{
- {
- // This guy has node_id = 1
- wolf::NodeBase nb(nb_class, nb_type, nb_name);
-
- id = nb.nodeId();
-
- std::ofstream os(path_to_io + "node_base_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- // This guy has node_id = 2
- wolf::NodeBase nb("SuperDummy");
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- ASSERT_EQ(nb.getCategory(), nb_class);
- ASSERT_EQ(nb.getType(), nb_type);
- ASSERT_EQ(nb.getName(), nb_name);
- ASSERT_EQ(nb.nodeId(), id);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBaseXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBasePtrXML)
-{
- {
- // This guy has node_id = 3
- wolf::NodeBasePtr nb = std::make_shared<wolf::NodeBase>(nb_class, nb_type, nb_name);
-
- id = nb->nodeId();
-
- std::ofstream os(path_to_io + "node_base_ptr_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_ptr_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- wolf::NodeBasePtr nb;
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- ASSERT_EQ(nb->getCategory(), nb_class);
- ASSERT_EQ(nb->getType(), nb_type);
- ASSERT_EQ(nb->getName(), nb_name);
- ASSERT_EQ(nb->nodeId(), id);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::NodeBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBasePtrXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBaseJSON)
-{
- {
- wolf::NodeBase nb(nb_class, nb_type, nb_name);
-
- id = nb.nodeId();
-
- std::ofstream os(path_to_io + "node_base_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::NodeBase blank("This guy has node_id = 1");
- wolf::NodeBase nb("SuperDummy");
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- ASSERT_EQ(nb.getCategory(), nb_class);
- ASSERT_EQ(nb.getType(), nb_type);
- ASSERT_EQ(nb.getName(), nb_name);
- ASSERT_EQ(nb.nodeId(), id);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBaseJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBasePtrJSON)
-{
- {
- wolf::NodeBasePtr nb = std::make_shared<wolf::NodeBase>(nb_class, nb_type, nb_name);
-
- id = nb->nodeId();
-
- std::ofstream os(path_to_io + "node_base_ptr_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_ptr_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::NodeBasePtr nb;
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- ASSERT_EQ(nb->getCategory(), nb_class);
- ASSERT_EQ(nb->getType(), nb_type);
- ASSERT_EQ(nb->getName(), nb_name);
- ASSERT_EQ(nb->nodeId(), id);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::NodeBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBasePtrJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBaseBinary)
-{
- {
- wolf::NodeBase nb(nb_class, nb_type, nb_name);
-
- id = nb.nodeId();
-
- std::ofstream os(path_to_io + "node_base_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::NodeBase blank("This guy has node_id = 1");
- wolf::NodeBase nb("SuperDummy");
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- ASSERT_EQ(nb.getCategory(), nb_class);
- ASSERT_EQ(nb.getType(), nb_type);
- ASSERT_EQ(nb.getName(), nb_name);
- ASSERT_EQ(nb.nodeId(), id);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBaseBinary !\n");
-}
-
-TEST_F(WolfTestCerealSerializationNodeBase, CerealSerializationNodeBasePtrBinary)
-{
- {
- wolf::NodeBasePtr nb = std::make_shared<wolf::NodeBase>(nb_class, nb_type, nb_name);
-
- id = nb->nodeId();
-
- std::ofstream os(path_to_io + "node_base_ptr_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "node_base_ptr_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::NodeBasePtr nb;
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- ASSERT_EQ(nb->getCategory(), nb_class);
- ASSERT_EQ(nb->getType(), nb_type);
- ASSERT_EQ(nb->getName(), nb_name);
- ASSERT_EQ(nb->nodeId(), id);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::NodeBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationNodeBase::CerealSerializationNodeBasePtrBinary !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_processor_odom2d_params.cpp b/test/serialization/cereal/gtest_serialization_processor_odom2d_params.cpp
deleted file mode 100644
index 89fbef3d69dff80688dd234b0cec3742233b9220..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_processor_odom2d_params.cpp
+++ /dev/null
@@ -1,108 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_processor_odom2d_params.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationProcessorParamsOdom2D : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationProcessorParamsOdom2D()
- {
- nb_.name = "NAME";
- nb_.type = "ODOM 2D";
-
- nb_.dist_traveled_th_ = 0.17;
- nb_.theta_traveled_th_ = 0.3;
- nb_.cov_det = 0.4;
- nb_.elapsed_time_th_ = 1.5;
- nb_.unmeasured_perturbation_std = 1e-5;
- }
-
- const std::string path_to_io = "/tmp/";
- const std::string filename = "serialization_processor_odom2d_params";
- const std::string ptr_ext = "_ptr";
-
- const std::vector<std::string> exts = {".bin", ".xml", ".json"};
-
- wolf::ProcessorParamsOdom2D nb_;
-};
-
-TEST_F(WolfTestCerealSerializationProcessorParamsOdom2D,
- CerealSerializationProcessorParamsOdom2D)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, nb_ ) )
- << "Failed on saving " << full_path;
-
- wolf::ProcessorParamsOdom2D nb_load;
-
- ASSERT_NO_THROW( wolf::load( full_path, nb_load ) )
- << "Failed on loading " << full_path;
-
- ASSERT_EQ(nb_load.type, nb_.type) << full_path;
- ASSERT_EQ(nb_load.name, nb_.name) << full_path;
- ASSERT_EQ(nb_load.dist_traveled_th_, nb_.dist_traveled_th_) << full_path;
- ASSERT_EQ(nb_load.theta_traveled_th_, nb_.theta_traveled_th_) << full_path;
- ASSERT_EQ(nb_load.cov_det, nb_.cov_det) << full_path;
- ASSERT_EQ(nb_load.unmeasured_perturbation_std,
- nb_.unmeasured_perturbation_std) << full_path;
-
- /// Testing BasePtr
-
- const std::string ptr_full_path = path_to_io + filename + ptr_ext + ext;
-
- {
- wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorParamsOdom2D>(nb_);
-
- ASSERT_NO_THROW( wolf::save( ptr_full_path, nb ) )
- << "Failed on saving " << ptr_full_path;
- }
-
- {
- wolf::ProcessorParamsBasePtr nb;
-
- ASSERT_NO_THROW( wolf::load( ptr_full_path, nb ) )
- << "Failed on loading " << ptr_full_path;
-
- wolf::ProcessorParamsOdom2DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorParamsOdom2D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr)
- << "Failed on casting " << ptr_full_path;
-
- ASSERT_EQ(nb_cast->type, nb_.type) << full_path;
- ASSERT_EQ(nb_cast->name, nb_.name) << full_path;
- ASSERT_EQ(nb_cast->dist_traveled_th_, nb_.dist_traveled_th_) << full_path;
- ASSERT_EQ(nb_cast->theta_traveled_th_, nb_.theta_traveled_th_) << full_path;
- ASSERT_EQ(nb_cast->cov_det, nb_.cov_det) << full_path;
- ASSERT_EQ(nb_cast->unmeasured_perturbation_std,
- nb_.unmeasured_perturbation_std) << full_path;
- }
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorParamsOdom2D::"
- "CerealSerializationProcessorParamsOdom2D !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp b/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp
deleted file mode 100644
index 41b2ca2f1b9c9eb6671ed81b4b04b5d97fb847d1..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp
+++ /dev/null
@@ -1,246 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_processor_odom3d_params.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationProcessorOdom3DParams : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationProcessorOdom3DParams()
- {
- nb_.name = "NAME";
- //nb_.type = "ODOM 3D";
-
- nb_.max_time_span = 1.5;
- nb_.max_buff_length = 55.;
- nb_.dist_traveled = .25;
- nb_.angle_turned = .17;
- }
-
- const std::string path_to_io = "/tmp/";
-
- wolf::ProcessorParamsOdom3D nb_;
-};
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorOdom3DParamsXML)
-{
- const std::string filename(path_to_io + "params_odom3d_serialization.xml");
-
- wolf::ProcessorParamsOdom3D nb_save;
- nb_save.name = "NAME2";
- //nb_.type = "ODOM 3D";
-
- nb_save.max_time_span = 2.5;
- nb_save.max_buff_length = 52.;
- nb_save.dist_traveled = .24;
- nb_save.angle_turned = .18;
-
- ASSERT_NO_THROW( wolf::save( filename, nb_, nb_save, 10 ) );
-
- {
- wolf::ProcessorParamsOdom3D nb_load;
-
- ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
-
- ASSERT_EQ(nb_load.type, nb_.type);
- ASSERT_EQ(nb_load.name, nb_.name);
- ASSERT_EQ(nb_load.max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_load.max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_load.dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_load.angle_turned, nb_.angle_turned);
-
- wolf::ProcessorParamsOdom3D nb_load0, nb_load1;
- int myint;
- ASSERT_NO_THROW( wolf::load( filename, nb_load0, nb_load1, myint ) );
-
- ASSERT_EQ(nb_load0.type, nb_.type);
- ASSERT_EQ(nb_load0.name, nb_.name);
- ASSERT_EQ(nb_load0.max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_load0.max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_load0.dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_load0.angle_turned, nb_.angle_turned);
-
- ASSERT_EQ(nb_load1.type, nb_save.type);
- ASSERT_EQ(nb_load1.name, nb_save.name);
- ASSERT_EQ(nb_load1.max_time_span, nb_save.max_time_span);
- ASSERT_EQ(nb_load1.max_buff_length, nb_save.max_buff_length);
- ASSERT_EQ(nb_load1.dist_traveled, nb_save.dist_traveled);
- ASSERT_EQ(nb_load1.angle_turned, nb_save.angle_turned);
-
- ASSERT_EQ(myint, 10);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorOdom3DParamsXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorParamsOdom3DPtrXML)
-{
- const std::string filename(path_to_io + "params_odom3d_ptr_serialization.xml");
-
- {
- wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::ProcessorParamsBasePtr nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- wolf::ProcessorParamsOdom3DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_cast->max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_cast->dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_cast->angle_turned, nb_.angle_turned);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorParamsOdom3DPtrXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorOdom3DParamsJSON)
-{
- const std::string filename(path_to_io + "params_odom3d_serialization.json");
-
- ASSERT_NO_THROW( wolf::save( filename, nb_ ) );
-
- wolf::ProcessorParamsOdom3D nb_load;
-
- ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
-
- ASSERT_EQ(nb_load.type, nb_.type);
- ASSERT_EQ(nb_load.name, nb_.name);
- ASSERT_EQ(nb_load.max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_load.max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_load.dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_load.angle_turned, nb_.angle_turned);
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorOdom3DParamsJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorParamsOdom3DPtrJSON)
-{
- const std::string filename(path_to_io + "params_odom3d_ptr_serialization.json");
-
- {
- wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::ProcessorParamsBasePtr nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- wolf::ProcessorParamsOdom3DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_cast->max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_cast->dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_cast->angle_turned, nb_.angle_turned);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorParamsOdom3DPtrJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorOdom3DParamsBinary)
-{
- const std::string filename(path_to_io + "params_odom3d_serialization.bin");
-
- ASSERT_NO_THROW( wolf::save( filename, nb_ ) );
-
- wolf::ProcessorParamsOdom3D nb_load;
-
- ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
-
- ASSERT_EQ(nb_load.type, nb_.type);
- ASSERT_EQ(nb_load.name, nb_.name);
- ASSERT_EQ(nb_load.max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_load.max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_load.dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_load.angle_turned, nb_.angle_turned);
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorOdom3DParamsBinary !\n");
-}
-
-TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
- CerealSerializationProcessorParamsOdom3DPtrBinary)
-{
- const std::string filename(path_to_io + "params_odom3d_ptr_serialization.bin");
-
- {
- wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::ProcessorParamsBasePtr nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- wolf::ProcessorParamsOdom3DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->max_time_span, nb_.max_time_span);
- ASSERT_EQ(nb_cast->max_buff_length, nb_.max_buff_length);
- ASSERT_EQ(nb_cast->dist_traveled, nb_.dist_traveled);
- ASSERT_EQ(nb_cast->angle_turned, nb_.angle_turned);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationProcessorOdom3DParams::"
- "CerealSerializationProcessorParamsOdom3DPtrBinary !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_save_load.cpp b/test/serialization/cereal/gtest_serialization_save_load.cpp
deleted file mode 100644
index 23241af4887a43db6d48f027b30481e3408ade49..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_save_load.cpp
+++ /dev/null
@@ -1,202 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/io.h"
-#include "../../../serialization/cereal/serialization_sensor_odom2d_intrinsic.h"
-
-#include "../../../serialization/cereal/archives.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-namespace wolf {
-
-using IntrinsicsOdom2DPtr = std::shared_ptr<IntrinsicsOdom2D>;
-
-}
-
-class WolfTestCerealSerializationSaveLoad : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationSaveLoad()
- {
- //
- }
-
- const std::string path_to_io = "/tmp/";
-
- decltype(std::declval<wolf::IntrinsicsOdom2D>().type) nb_type = "TYPE";
- decltype(std::declval<wolf::IntrinsicsOdom2D>().name) nb_name = "NAME";
- decltype(std::declval<wolf::IntrinsicsOdom2D>().k_disp_to_disp) nb_k_disp_to_disp = 0.54;
- decltype(std::declval<wolf::IntrinsicsOdom2D>().k_rot_to_rot) nb_k_rot_to_rot = 0.18;
-};
-
-TEST_F(WolfTestCerealSerializationSaveLoad, CerealSerializationSaveLoadExtension)
-{
- const std::string xml = "/test/filename.xml";
- const std::string bin = "/test/filename.bin";
- const std::string json = "/test/filename.json";
-
- ASSERT_EQ(wolf::serialization::extension(xml), ".xml");
- ASSERT_EQ(wolf::serialization::extension(bin), ".bin");
- ASSERT_EQ(wolf::serialization::extension(json), ".json");
-}
-
-TEST_F(WolfTestCerealSerializationSaveLoad,
- CerealSerializationSaveLoadXML)
-{
- const std::string filename = path_to_io + "save_load_serialization.xml";
-
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_type;
- nb.name = nb_name;
- nb.k_disp_to_disp = nb_k_disp_to_disp;
- nb.k_rot_to_rot = nb_k_rot_to_rot;
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationSaveLoad::"
- "CerealSerializationSaveLoadXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationSaveLoad,
- CerealSerializationSaveLoadJSON)
-{
- const std::string filename = path_to_io + "save_load_serialization.json";
-
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_type;
- nb.name = nb_name;
- nb.k_disp_to_disp = nb_k_disp_to_disp;
- nb.k_rot_to_rot = nb_k_rot_to_rot;
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationSaveLoad::"
- "CerealSerializationSaveLoadJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationSaveLoad,
- CerealSerializationSaveLoadBinary)
-{
- const std::string filename = path_to_io + "save_load_serialization.bin";
-
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_type;
- nb.name = nb_name;
- nb.k_disp_to_disp = nb_k_disp_to_disp;
- nb.k_rot_to_rot = nb_k_rot_to_rot;
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationSaveLoad::"
- "CerealSerializationSaveLoadBinary !\n");
-}
-
-TEST_F(WolfTestCerealSerializationSaveLoad,
- CerealSerializationSaveLoadNoExt)
-{
- const std::string filename = path_to_io + "save_load_serialization_no_ext";
-
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_type;
- nb.name = nb_name;
- nb.k_disp_to_disp = nb_k_disp_to_disp;
- nb.k_rot_to_rot = nb_k_rot_to_rot;
-
- ASSERT_NO_THROW( wolf::save( filename, nb ) );
- }
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( wolf::load( filename, nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationSaveLoad::"
- "CerealSerializationSaveLoadNoExt !\n");
-}
-
-TEST_F(WolfTestCerealSerializationSaveLoad,
- CerealSerializationSaveLoadUnknownExt)
-{
- const std::string filename = path_to_io + "save_load_serialization.foo";
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_THROW( wolf::save( filename, nb ), std::runtime_error );
- }
-
- {
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_THROW( wolf::load( filename, nb ), std::runtime_error );
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationSaveLoad::"
- "CerealSerializationSaveLoadUnknownExt !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_sensor_intrinsic_base.cpp b/test/serialization/cereal/gtest_serialization_sensor_intrinsic_base.cpp
deleted file mode 100644
index a8a67dc1977d184a91a26cae2420f1a04ef5a0ee..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_sensor_intrinsic_base.cpp
+++ /dev/null
@@ -1,233 +0,0 @@
-/*
- * gtest_intrinsics_base_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_sensor_intrinsic_base.h"
-
-#include "../../../serialization/cereal/archives.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationIntrinsicsBase : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationIntrinsicsBase()
- {
- //
- }
-
- const std::string path_to_io = "/tmp/";
-
- decltype(std::declval<wolf::IntrinsicsBase>().type) nb_type = "TYPE";
- decltype(std::declval<wolf::IntrinsicsBase>().name) nb_name = "NAME";
-};
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase,
- CerealSerializationIntrinsicsBaseXML)
-{
- {
- wolf::IntrinsicsBase nb;
- nb.type = nb_type;
- nb.name = nb_name;
-
- std::ofstream os(path_to_io + "intrinsics_base_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- wolf::IntrinsicsBase nb;
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBaseXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase,
- CerealSerializationIntrinsicsBasePtrXML)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsBase>();
- nb->name = nb_name;
- nb->type = nb_type;
-
- std::ofstream os(path_to_io + "intrinsics_base_ptr_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_ptr_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- ASSERT_EQ(nb->type, nb_type);
- ASSERT_EQ(nb->name, nb_name);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::IntrinsicsBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBasePtrXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase,
- CerealSerializationIntrinsicsBaseJSON)
-{
- {
- wolf::IntrinsicsBase nb;
- nb.type = nb_type;
- nb.name = nb_name;
-
- std::ofstream os(path_to_io + "intrinsics_base_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::IntrinsicsBase nb;
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBaseJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase,
- CerealSerializationIntrinsicsBasePtrJSON)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsBase>();
- nb->name = nb_name;
- nb->type = nb_type;
-
- std::ofstream os(path_to_io + "intrinsics_base_ptr_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_ptr_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- ASSERT_EQ(nb->type, nb_type);
- ASSERT_EQ(nb->name, nb_name);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::IntrinsicsBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBasePtrJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase,
- CerealSerializationIntrinsicsBaseBinary)
-{
- {
- wolf::IntrinsicsBase nb;
- nb.type = nb_type;
- nb.name = nb_name;
-
- std::ofstream os(path_to_io + "intrinsics_base_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::IntrinsicsBase nb;
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_type);
- ASSERT_EQ(nb.name, nb_name);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBaseBinary !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsBase, CerealSerializationIntrinsicsBasePtrBinary)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsBase>();
- nb->name = nb_name;
- nb->type = nb_type;
-
- std::ofstream os(path_to_io + "intrinsics_base_ptr_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_base_ptr_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- ASSERT_EQ(nb->type, nb_type);
- ASSERT_EQ(nb->name, nb_name);
-
- ASSERT_TRUE(
- std::dynamic_pointer_cast<
- wolf::IntrinsicsBase>(nb) != nullptr);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsBase::"
- "CerealSerializationIntrinsicsBasePtrBinary !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_sensor_odom2d_intrinsic.cpp b/test/serialization/cereal/gtest_serialization_sensor_odom2d_intrinsic.cpp
deleted file mode 100644
index c5891c3d91d020293937236e582535ddd2e2beaf..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_sensor_odom2d_intrinsic.cpp
+++ /dev/null
@@ -1,256 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_sensor_odom2d_intrinsic.h"
-
-#include "../../../serialization/cereal/archives.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-namespace wolf {
-
-using IntrinsicsOdom2DPtr = std::shared_ptr<IntrinsicsOdom2D>;
-
-}
-
-class WolfTestCerealSerializationIntrinsicsOdom2D : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationIntrinsicsOdom2D()
- {
- nb_.k_disp_to_disp = 0.54;
- nb_.k_rot_to_rot = 0.18;
- nb_.name = "NAME";
- nb_.type = "TYPE";
- }
-
- const std::string path_to_io = "/tmp/";
-
- wolf::IntrinsicsOdom2D nb_;
-};
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D,
- CerealSerializationIntrinsicsOdom2DXML)
-{
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_.type;
- nb.name = nb_.name;
- nb.k_disp_to_disp = nb_.k_disp_to_disp;
- nb.k_rot_to_rot = nb_.k_rot_to_rot;
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_.type);
- ASSERT_EQ(nb.name, nb_.name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D,
- CerealSerializationIntrinsicsOdom2DPtrXML)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsOdom2D>(nb_);
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_ptr_serialization.xml");
- cereal::XMLOutputArchive xml_archive(os);
-
- ASSERT_NO_THROW( xml_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_ptr_serialization.xml");
- cereal::XMLInputArchive xml_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( xml_archive( nb ) );
-
- wolf::IntrinsicsOdom2DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::IntrinsicsOdom2D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb_cast->k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DPtrXML !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D,
- CerealSerializationIntrinsicsOdom2DJSON)
-{
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_.type;
- nb.name = nb_.name;
- nb.k_disp_to_disp = nb_.k_disp_to_disp;
- nb.k_rot_to_rot = nb_.k_rot_to_rot;
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_.type);
- ASSERT_EQ(nb.name, nb_.name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D,
- CerealSerializationIntrinsicsOdom2DPtrJSON)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsOdom2D>(nb_);
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_ptr_serialization.json");
- cereal::JSONOutputArchive json_archive(os);
-
- ASSERT_NO_THROW( json_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_ptr_serialization.json");
- cereal::JSONInputArchive json_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( json_archive( nb ) );
-
- wolf::IntrinsicsOdom2DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::IntrinsicsOdom2D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb_cast->k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DPtrJSON !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D,
- CerealSerializationIntrinsicsOdom2DBinary)
-{
- {
- wolf::IntrinsicsOdom2D nb;
- nb.type = nb_.type;
- nb.name = nb_.name;
- nb.k_disp_to_disp = nb_.k_disp_to_disp;
- nb.k_rot_to_rot = nb_.k_rot_to_rot;
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::IntrinsicsOdom2D nb;
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- ASSERT_EQ(nb.type, nb_.type);
- ASSERT_EQ(nb.name, nb_.name);
- ASSERT_EQ(nb.k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb.k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DBinary !\n");
-}
-
-TEST_F(WolfTestCerealSerializationIntrinsicsOdom2D, CerealSerializationIntrinsicsOdom2DPtrBinary)
-{
- {
- wolf::IntrinsicsBasePtr nb = std::make_shared<wolf::IntrinsicsOdom2D>(nb_);
-
- std::ofstream os(path_to_io + "intrinsics_odom2d_ptr_serialization.bin");
- cereal::BinaryOutputArchive bin_archive(os);
-
- ASSERT_NO_THROW( bin_archive( nb ) );
- }
-
- {
- std::ifstream is(path_to_io + "intrinsics_odom2d_ptr_serialization.bin");
- cereal::BinaryInputArchive bin_archive(is);
-
- wolf::IntrinsicsBasePtr nb;
-
- ASSERT_NO_THROW( bin_archive( nb ) );
-
- wolf::IntrinsicsOdom2DPtr nb_cast =
- std::dynamic_pointer_cast<wolf::IntrinsicsOdom2D>(nb);
-
- ASSERT_TRUE(nb_cast != nullptr);
-
- ASSERT_EQ(nb_cast->type, nb_.type);
- ASSERT_EQ(nb_cast->name, nb_.name);
- ASSERT_EQ(nb_cast->k_disp_to_disp, nb_.k_disp_to_disp);
- ASSERT_EQ(nb_cast->k_rot_to_rot, nb_.k_rot_to_rot);
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationIntrinsicsOdom2D::"
- "CerealSerializationIntrinsicsOdom2DPtrBinary !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}
diff --git a/test/serialization/cereal/gtest_serialization_time_stamp.cpp b/test/serialization/cereal/gtest_serialization_time_stamp.cpp
deleted file mode 100644
index 8dc4cd479ad8c3986fbd4286899ab1081b1a9af0..0000000000000000000000000000000000000000
--- a/test/serialization/cereal/gtest_serialization_time_stamp.cpp
+++ /dev/null
@@ -1,62 +0,0 @@
-/*
- * gtest_intrinsics_odom2d_serialization.cpp
- *
- * Created on: Jul 16, 2017
- * Author: Jeremie Deray
- */
-
-#include "../../utils_gtest.h"
-
-#include "../../../serialization/cereal/serialization_time_stamp.h"
-
-#include "../../../serialization/cereal/io.h"
-
-#include <cereal/types/memory.hpp>
-#include <fstream>
-
-class WolfTestCerealSerializationTimeStamp : public testing::Test
-{
-public:
-
- WolfTestCerealSerializationTimeStamp()
- {
- nb_.setToNow();
- }
-
- const std::string path_to_io = "/tmp/";
- const std::string filename = "serialization_time_stamp";
- const std::string ptr_ext = "_ptr";
-
- const std::vector<std::string> exts = {".bin", ".xml", ".json"};
-
- wolf::TimeStamp nb_;
-};
-
-TEST_F(WolfTestCerealSerializationTimeStamp,
- CerealSerializationTimeStamp)
-{
- for (const auto ext : exts)
- {
- const std::string full_path = path_to_io + filename + ext;
-
- ASSERT_NO_THROW( wolf::save( full_path, nb_ ) )
- << "Failed on saving " << full_path;
-
- wolf::TimeStamp nb_load;
-
- ASSERT_NO_THROW( wolf::load( full_path, nb_load ) )
- << "Failed on loading " << full_path;
-
- ASSERT_EQ(nb_load, nb_) << full_path;
- }
-
- PRINTF("All good at "
- "WolfTestCerealSerializationTimeStamp::"
- "CerealSerializationTimeStamp !\n");
-}
-
-int main(int argc, char **argv)
-{
- testing::InitGoogleTest(&argc, argv);
- return RUN_ALL_TESTS();
-}