diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h
index b27f49491a7c1c92062a3b6829ce01b5a9ee2215..5f3ec96bedc97a693da9293358e8464b9c5e0c73 100644
--- a/include/gnss/sensor/sensor_gnss.h
+++ b/include/gnss/sensor/sensor_gnss.h
@@ -8,10 +8,10 @@
namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(IntrinsicsGnss);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorGnss);
WOLF_PTR_TYPEDEFS(SensorGnss);
-struct IntrinsicsGnss : public IntrinsicsBase
+struct ParamsSensorGnss : public ParamsSensorBase
{
// add GNSS parameters here
bool extrinsics_fixed_ = true;
@@ -19,10 +19,10 @@ struct IntrinsicsGnss : public IntrinsicsBase
bool pitch_fixed_=true;
bool yaw_fixed_ =false;
bool translation_fixed_ = false;
- virtual ~IntrinsicsGnss() = default;
- IntrinsicsGnss() = default;
- IntrinsicsGnss(std::string _unique_name, const ParamsServer& _server):
- IntrinsicsBase(_unique_name, _server)
+ virtual ~ParamsSensorGnss() = default;
+ ParamsSensorGnss() = default;
+ ParamsSensorGnss(std::string _unique_name, const ParamsServer& _server):
+ ParamsSensorBase(_unique_name, _server)
{
extrinsics_fixed_ = _server.getParam<bool>(_unique_name + "/extrinsics_fixed");
roll_fixed_ = _server.getParam<bool>(_unique_name + "/roll_fixed");
@@ -32,7 +32,7 @@ struct IntrinsicsGnss : public IntrinsicsBase
}
std::string print() const
{
- return "\n" + IntrinsicsBase::print() + "\n"
+ return "\n" + ParamsSensorBase::print() + "\n"
+ "extrinsics_fixed: " + std::to_string(extrinsics_fixed_) + "\n"
+ "roll_fixed: " + std::to_string(roll_fixed_) + "\n"
+ "pitch_fixed: " + std::to_string(pitch_fixed_) + "\n"
@@ -44,14 +44,14 @@ struct IntrinsicsGnss : public IntrinsicsBase
class SensorGnss : public SensorBase
{
protected:
- IntrinsicsGnssPtr params_;
+ ParamsSensorGnssPtr params_;
bool ENU_defined_, ENU_MAP_initialized_;
Eigen::Matrix3d R_ENU_ECEF_;
Eigen::Vector3d t_ENU_ECEF_;
public:
- SensorGnss(StateBlockPtr _p_ptr, StateBlockPtr _bias_ptr, IntrinsicsGnssPtr params);
- SensorGnss(StateBlockPtr _p_ptr, StateBlockPtr _bias_ptr, IntrinsicsGnssPtr params, StateBlockPtr _t_ENU_MAP_ptr, StateBlockPtr _roll_ENU_MAP_ptr, StateBlockPtr _pitch_ENU_MAP_ptr, StateBlockPtr _yaw_ENU_MAP_ptr);
+ SensorGnss(StateBlockPtr _p_ptr, StateBlockPtr _bias_ptr, ParamsSensorGnssPtr params);
+ SensorGnss(StateBlockPtr _p_ptr, StateBlockPtr _bias_ptr, ParamsSensorGnssPtr params, StateBlockPtr _t_ENU_MAP_ptr, StateBlockPtr _roll_ENU_MAP_ptr, StateBlockPtr _pitch_ENU_MAP_ptr, StateBlockPtr _yaw_ENU_MAP_ptr);
virtual ~SensorGnss();
@@ -85,7 +85,7 @@ class SensorGnss : public SensorBase
const Eigen::Vector3d& _v_ECEF_antena1_antena2);
public:
- static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics_p, const IntrinsicsBasePtr _intrinsics);
+ static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics_p, const ParamsSensorBasePtr _intrinsics);
};
diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp
index 605a68c973b6116789fc7ea1faeb87332ba1b3b4..52ded0f3d3aa05b37568242681d5cb4e57c8b9e9 100644
--- a/src/sensor/sensor_gnss.cpp
+++ b/src/sensor/sensor_gnss.cpp
@@ -13,7 +13,7 @@ static double kSecondEccentricitySquared = 6.73949674228 * 0.001;
SensorGnss::SensorGnss(StateBlockPtr _p_ptr, //GNSS antena 3D position with respect to the car frame (base frame)
StateBlockPtr _bias_ptr, //GNSS sensor time bias
- IntrinsicsGnssPtr params) //sensor params
+ ParamsSensorGnssPtr params) //sensor params
:
SensorBase("SensorGnss", _p_ptr, nullptr, _bias_ptr, 0), // antena orientation has no sense in GNSS
params_(params),
@@ -31,7 +31,7 @@ SensorGnss::SensorGnss(StateBlockPtr _p_ptr, //GNSS antena 3D positi
SensorGnss::SensorGnss(StateBlockPtr _p_ptr, //GNSS sensor position with respect to the car frame (base frame)
StateBlockPtr _bias_ptr, //GNSS sensor time bias
- IntrinsicsGnssPtr params, //sensor params
+ ParamsSensorGnssPtr params, //sensor params
StateBlockPtr _t_ENU_MAP_ptr, //ENU_MAP translation
StateBlockPtr _roll_ENU_MAP_ptr, //ENU_MAP Roll
StateBlockPtr _pitch_ENU_MAP_ptr, //ENU_MAP Pitch
@@ -240,12 +240,12 @@ Eigen::Matrix3d SensorGnss::getREnuMap() const
// Define the factory method
SensorBasePtr SensorGnss::create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics,
- const IntrinsicsBasePtr _intrinsics)
+ const ParamsSensorBasePtr _intrinsics)
{
assert((_extrinsics.size() == 3 || _extrinsics.size() == 9) && "Bad extrinsics vector length. Should be 3 (antena position) or 9 (antena position and MAP-ENU initialization: position XYZ and orientation RPY)");
SensorBasePtr sen = nullptr;
- IntrinsicsGnssPtr intrinsics_gnss_ptr = std::static_pointer_cast<IntrinsicsGnss>(_intrinsics);
+ ParamsSensorGnssPtr intrinsics_gnss_ptr = std::static_pointer_cast<ParamsSensorGnss>(_intrinsics);
StateBlockPtr p_ptr = std::make_shared<StateBlock>(_extrinsics.head(3), intrinsics_gnss_ptr->extrinsics_fixed_);
if (_extrinsics.size() == 3)
diff --git a/test/gtest_factor_gnss_fix_2D.cpp b/test/gtest_factor_gnss_fix_2D.cpp
index ade863719d1bf21a816a0e5e4caa9baf95312390..be550e395fcfa0b1a6d279185a2b4e25951ed97f 100644
--- a/test/gtest_factor_gnss_fix_2D.cpp
+++ b/test/gtest_factor_gnss_fix_2D.cpp
@@ -88,7 +88,7 @@ Vector3d 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("SensorGnss", "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<ParamsSensorGnss>()));
FrameBasePtr frame_ptr;
////////////////////////////////////////////////////////
diff --git a/test/gtest_factor_gnss_single_diff_2D.cpp b/test/gtest_factor_gnss_single_diff_2D.cpp
index 9dadf7e94b0ead2a37260be1df9da87320c31ee3..65f93e5bd69e5100d842917cf7b4afed67d1d648 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("SensorGnss", "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<ParamsSensorBase>()));
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));
@@ -80,7 +80,7 @@ class FactorGnssSingleDiff2DTest : public testing::Test
problem_ptr->installProcessor("ProcessorGnssSingleDiff", "gnss single difference", gnss_sensor_ptr, gnss_params_ptr);
// odom sensor & processor
- IntrinsicsOdom2DPtr odom_intrinsics_ptr = std::make_shared<IntrinsicsOdom2D>();
+ ParamsSensorOdom2DPtr odom_intrinsics_ptr = std::make_shared<ParamsSensorOdom2D>();
odom_intrinsics_ptr->k_disp_to_disp = 0.1;
odom_intrinsics_ptr->k_rot_to_rot = 0.1;
//<<<<<<< HEAD