From bad6a3f5c8e8f36211e3ff91cf5e2554365ed754 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 19 Dec 2019 10:09:09 +0100
Subject: [PATCH] Adapt to new factory keys
---
include/gnss/factor/factor_gnss_fix_2D.h | 2 +-
include/gnss/factor/factor_gnss_fix_3D.h | 2 +-
include/gnss/feature/feature_gnss_fix.h | 2 +-
src/capture/capture_gnss_fix.cpp | 2 +-
src/processor/processor_gnss_fix.cpp | 4 ++--
src/sensor/sensor_gnss.cpp | 6 +++---
test/gtest_factor_gnss_fix_2D.cpp | 4 ++--
test/gtest_factor_gnss_single_diff_2D.cpp | 7 +++----
8 files changed, 14 insertions(+), 15 deletions(-)
diff --git a/include/gnss/factor/factor_gnss_fix_2D.h b/include/gnss/factor/factor_gnss_fix_2D.h
index 9adb73314..773a84d8b 100644
--- a/include/gnss/factor/factor_gnss_fix_2D.h
+++ b/include/gnss/factor/factor_gnss_fix_2D.h
@@ -20,7 +20,7 @@ class FactorGnssFix2D : public FactorAutodiff<FactorGnssFix2D, 3, 2, 1, 3, 3, 1,
public:
FactorGnssFix2D(FeatureBasePtr& _ftr_ptr, const SensorGnssPtr& _sensor_gnss_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
- FactorAutodiff<FactorGnssFix2D, 3, 2, 1, 3, 3, 1, 1, 1>("GNSS FIX 2D",
+ FactorAutodiff<FactorGnssFix2D, 3, 2, 1, 3, 3, 1, 1, 1>("FactorGnssFix2D",
nullptr,
nullptr,
nullptr,
diff --git a/include/gnss/factor/factor_gnss_fix_3D.h b/include/gnss/factor/factor_gnss_fix_3D.h
index 4f47dad9f..c620ee58a 100644
--- a/include/gnss/factor/factor_gnss_fix_3D.h
+++ b/include/gnss/factor/factor_gnss_fix_3D.h
@@ -19,7 +19,7 @@ class FactorGnssFix3D : public FactorAutodiff<FactorGnssFix3D, 3, 3, 4, 3, 3, 1,
public:
FactorGnssFix3D(FeatureBasePtr& _ftr_ptr, const SensorGnssPtr& _sensor_gnss_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
- FactorAutodiff<FactorGnssFix3D, 3, 3, 4, 3, 3, 1, 1, 1>("GNSS FIX 3D",
+ FactorAutodiff<FactorGnssFix3D, 3, 3, 4, 3, 3, 1, 1, 1>("FactorGnssFix3D",
nullptr,
nullptr,
nullptr,
diff --git a/include/gnss/feature/feature_gnss_fix.h b/include/gnss/feature/feature_gnss_fix.h
index 0184490f9..f33fb8557 100644
--- a/include/gnss/feature/feature_gnss_fix.h
+++ b/include/gnss/feature/feature_gnss_fix.h
@@ -22,7 +22,7 @@ class FeatureGnssFix : public FeatureBase
*
*/
FeatureGnssFix(const Eigen::Vector3s& _measurement, const Eigen::Matrix3s& _meas_covariance) :
- FeatureBase("GNSS FIX", _measurement, _meas_covariance)
+ FeatureBase("FeatureGnssFix", _measurement, _meas_covariance)
{};
virtual ~FeatureGnssFix(){};
diff --git a/src/capture/capture_gnss_fix.cpp b/src/capture/capture_gnss_fix.cpp
index 34f76594d..d7f78a9a1 100644
--- a/src/capture/capture_gnss_fix.cpp
+++ b/src/capture/capture_gnss_fix.cpp
@@ -4,7 +4,7 @@
namespace wolf {
CaptureGnssFix::CaptureGnssFix(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance) :
- CaptureBase("GNSS FIX", _ts, _sensor_ptr),
+ CaptureBase("CaptureGnssFix", _ts, _sensor_ptr),
data_(_data),
data_covariance_(_data_covariance)
{
diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index a7ce606d8..26b58a4e6 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -8,7 +8,7 @@ namespace wolf
{
ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss) :
- ProcessorBase("GNSS FIX", _params_gnss),
+ ProcessorBase("ProcessorGnssFix", _params_gnss),
params_gnss_(_params_gnss),
first_capture_(nullptr)
@@ -182,5 +182,5 @@ ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const
// Register in the SensorFactory
#include "core/processor/processor_factory.h"
namespace wolf {
-WOLF_REGISTER_PROCESSOR("GNSS FIX",ProcessorGnssFix)
+WOLF_REGISTER_PROCESSOR("ProcessorGnssFix",ProcessorGnssFix)
} // namespace wolf
diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp
index d422362c3..5beaf5097 100644
--- a/src/sensor/sensor_gnss.cpp
+++ b/src/sensor/sensor_gnss.cpp
@@ -15,7 +15,7 @@ SensorGnss::SensorGnss(StateBlockPtr _p_ptr, //GNSS antena 3D positi
StateBlockPtr _bias_ptr, //GNSS sensor time bias
IntrinsicsGnssPtr params) //sensor params
:
- SensorBase("GNSS", _p_ptr, nullptr, _bias_ptr, 0), // antena orientation has no sense in GNSS
+ SensorBase("SensorGnss", _p_ptr, nullptr, _bias_ptr, 0), // antena orientation has no sense in GNSS
params_(params),
ENU_defined_(false),
ENU_MAP_initialized_(false)
@@ -38,7 +38,7 @@ SensorGnss::SensorGnss(StateBlockPtr _p_ptr, //GNSS sensor position
StateBlockPtr _pitch_ENU_MAP_ptr, //ENU_MAP Pitch
StateBlockPtr _yaw_ENU_MAP_ptr) //ENU_MAP Yaw
:
- SensorBase("GNSS", _p_ptr, nullptr, _bias_ptr, 0),// antena orientation has no sense in GNSS
+ SensorBase("SensorGnss", _p_ptr, nullptr, _bias_ptr, 0),// antena orientation has no sense in GNSS
params_(params),
ENU_defined_(false),
ENU_MAP_initialized_(false)
@@ -273,5 +273,5 @@ SensorBasePtr SensorGnss::create(const std::string& _unique_name, const Eigen::V
// Register in the SensorFactory
#include "core/sensor/sensor_factory.h"
namespace wolf {
-WOLF_REGISTER_SENSOR("GNSS",SensorGnss)
+WOLF_REGISTER_SENSOR("SensorGnss",SensorGnss)
} // namespace wolf
diff --git a/test/gtest_factor_gnss_fix_2D.cpp b/test/gtest_factor_gnss_fix_2D.cpp
index 61a1780a8..762e61fb4 100644
--- a/test/gtest_factor_gnss_fix_2D.cpp
+++ b/test/gtest_factor_gnss_fix_2D.cpp
@@ -90,7 +90,7 @@ Vector3s t_ecef_antena = R_ecef_enu * (R_enu_map * (R_map_base * t_base_antena +
// WOLF
ProblemPtr problem_ptr = Problem::create("PO", 2);
CeresManagerPtr ceres_mgr_ptr = std::make_shared<CeresManager>(problem_ptr);
-SensorGnssPtr gnss_sensor_ptr = std::static_pointer_cast<SensorGnss>(problem_ptr->installSensor("GNSS", "gnss", t_base_antena, std::make_shared<IntrinsicsGnss>()));
+SensorGnssPtr gnss_sensor_ptr = std::static_pointer_cast<SensorGnss>(problem_ptr->installSensor("SensorGnss", "gnss", t_base_antena, std::make_shared<IntrinsicsGnss>()));
FrameBasePtr frame_ptr;
////////////////////////////////////////////////////////
@@ -109,7 +109,7 @@ TEST(FactorGnssFix2DTest, configure_tree)
ProcessorParamsGnssFixPtr gnss_params_ptr = std::make_shared<ProcessorParamsGnssFix>();
gnss_params_ptr->time_tolerance = 1.0;
gnss_params_ptr->voting_active = true;
- problem_ptr->installProcessor("GNSS FIX", "gnss fix", gnss_sensor_ptr, gnss_params_ptr);
+ problem_ptr->installProcessor("ProcessorGnssFix", "gnss fix", gnss_sensor_ptr, gnss_params_ptr);
// Emplace a frame (FIXED)
Vector3s frame_pose = (Vector3s() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
diff --git a/test/gtest_factor_gnss_single_diff_2D.cpp b/test/gtest_factor_gnss_single_diff_2D.cpp
index 3ce5c0156..39447d8e6 100644
--- a/test/gtest_factor_gnss_single_diff_2D.cpp
+++ b/test/gtest_factor_gnss_single_diff_2D.cpp
@@ -64,7 +64,7 @@ class FactorGnssSingleDiff2DTest : public testing::Test
ceres_mgr_ptr->getSolverOptions().max_num_iterations = 10;
// gnss sensor
- gnss_sensor_ptr = std::static_pointer_cast<SensorGnss>(problem_ptr->installSensor("GNSS", "gnss", t_base_antena, std::make_shared<IntrinsicsBase>()));
+ gnss_sensor_ptr = std::static_pointer_cast<SensorGnss>(problem_ptr->installSensor("SensorGnss", "gnss", t_base_antena, std::make_shared<IntrinsicsBase>()));
gnss_sensor_ptr->getEnuMapRoll()->fix();
gnss_sensor_ptr->getEnuMapPitch()->fix();
gnss_sensor_ptr->setEnuEcef(R_ecef_enu.transpose(), R_ecef_enu.transpose()*(-t_ecef_enu));
@@ -80,14 +80,14 @@ class FactorGnssSingleDiff2DTest : public testing::Test
IntrinsicsOdom2DPtr odom_intrinsics_ptr = std::make_shared<IntrinsicsOdom2D>();
odom_intrinsics_ptr->k_disp_to_disp = 0.1;
odom_intrinsics_ptr->k_rot_to_rot = 0.1;
- odom_sensor_ptr = std::static_pointer_cast<SensorOdom2D>(problem_ptr->installSensor("ODOM 2D", "odometer", VectorXs::Zero(3), odom_intrinsics_ptr));
+ odom_sensor_ptr = std::static_pointer_cast<SensorOdom2D>(problem_ptr->installSensor("SensorOdom2D", "odometer", VectorXs::Zero(3), odom_intrinsics_ptr));
ProcessorParamsOdom2DPtr odom_params_ptr = std::make_shared<ProcessorParamsOdom2D>();
odom_params_ptr->voting_active = true;
odom_params_ptr->dist_traveled = 1;
odom_params_ptr->angle_turned = 2.0;
odom_params_ptr->max_time_span = 1.0;
odom_params_ptr->time_tolerance = 1.0;
- problem_ptr->installProcessor("ODOM 2D", "main odometry", odom_sensor_ptr, odom_params_ptr);
+ problem_ptr->installProcessor("ProcessorOdom2D", "main odometry", odom_sensor_ptr, odom_params_ptr);
//problem_ptr->setProcessorMotion("main odometry");
// set prior (FIXED)
@@ -174,7 +174,6 @@ TEST_F(FactorGnssSingleDiff2DTest, gnss_1_map_base_orientation)
gnss_sensor_ptr->getEnuMapYaw()->fix();
cap_gnss_ptr->getFrame()->getP()->setState(t_map_base2.head(2)); // frame position
cap_gnss_ptr->getFrame()->getP()->fix();
-
// distort frm position
Vector1s frm_dist = cap_gnss_ptr->getFrame()->getO()->getState();
frm_dist(0) += 1.8;
--
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