Rename Intrinsics -> ParamsSensor

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);
 
 
 };

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)

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;
 
 ////////////////////////////////////////////////////////

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