diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h index 4bd3dfe2eb36aa62ab097a9fc092db62f76b3131..ccefe606128c8fe51fe534cd3f7e9c128345f4a3 100644 --- a/include/gnss/processor/processor_gnss_fix.h +++ b/include/gnss/processor/processor_gnss_fix.h @@ -47,7 +47,7 @@ class ProcessorGnssFix : public ProcessorBase FrameBasePtr last_KF_; public: - ProcessorGnssFix(ProcessorParamsGnssFixPtr _params, SensorGnssPtr _sensor_gnss_ptr); + ProcessorGnssFix(ProcessorParamsGnssFixPtr _params); virtual ~ProcessorGnssFix(); virtual void configure(SensorBasePtr _sensor) override; @@ -96,7 +96,7 @@ class ProcessorGnssFix : public ProcessorBase bool rejectOutlier(FactorBasePtr ctr_ptr); public: - static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr); + static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params); }; diff --git a/include/gnss/processor/processor_gnss_single_diff.h b/include/gnss/processor/processor_gnss_single_diff.h index b425b162d642e89328b5d2f58bb2f6f3d97e7af7..7265baca4084db602e8ea3a228b11dde973a0f4c 100644 --- a/include/gnss/processor/processor_gnss_single_diff.h +++ b/include/gnss/processor/processor_gnss_single_diff.h @@ -47,7 +47,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase FrameBasePtr last_KF_; public: - ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss); + ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss); virtual ~ProcessorGnssSingleDiff(); virtual void configure(SensorBasePtr _sensor) override; FrameBasePtr getLastKF(); @@ -97,7 +97,7 @@ class ProcessorGnssSingleDiff : public ProcessorBase FactorBasePtr emplaceFactor(FeatureBasePtr _ftr); public: - static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor); + static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params); }; diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp index f11be23a5373ee138d7ebff11a54d802258ae91b..2eee30479497af96c2a2bea1b9e00f78724f4619 100644 --- a/src/processor/processor_gnss_fix.cpp +++ b/src/processor/processor_gnss_fix.cpp @@ -7,9 +7,8 @@ namespace wolf { -ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss, SensorGnssPtr _sensor_gnss) : +ProcessorGnssFix::ProcessorGnssFix(ProcessorParamsGnssFixPtr _params_gnss) : ProcessorBase("GNSS FIX", _params_gnss), - sensor_gnss_(_sensor_gnss), params_gnss_(_params_gnss), first_capture_(nullptr) @@ -169,10 +168,9 @@ void ProcessorGnssFix::configure(SensorBasePtr _sensor) sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor); }; -ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor) +ProcessorBasePtr ProcessorGnssFix::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params) { - auto prc = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params), - std::static_pointer_cast<SensorGnss>(sensor)); + auto prc = std::make_shared<ProcessorGnssFix>(std::static_pointer_cast<ProcessorParamsGnssFix>(_params)); prc->setName(_unique_name); return prc; } diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp index 3bc0a79c7b93175b8a56cbef27861f1204d61cca..7afcfd29d1b267bab7ca7609e18f5ef9ffc63cdd 100644 --- a/src/processor/processor_gnss_single_diff.cpp +++ b/src/processor/processor_gnss_single_diff.cpp @@ -6,9 +6,8 @@ namespace wolf { -ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss, SensorGnssPtr _sensor_gnss) : +ProcessorGnssSingleDiff::ProcessorGnssSingleDiff(ProcessorParamsGnssSingleDiffPtr _params_gnss) : ProcessorBase("GNSS SINGLE DIFFERENCES", _params_gnss), - sensor_gnss_(_sensor_gnss), params_gnss_(_params_gnss) { // @@ -142,9 +141,9 @@ void ProcessorGnssSingleDiff::configure(SensorBasePtr _sensor) sensor_gnss_ = std::static_pointer_cast<SensorGnss>(_sensor); }; -ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor) +ProcessorBasePtr ProcessorGnssSingleDiff::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params) { - ProcessorGnssSingleDiffPtr prc = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params), std::static_pointer_cast<SensorGnss>(sensor)); + ProcessorGnssSingleDiffPtr prc = std::make_shared<ProcessorGnssSingleDiff>(std::static_pointer_cast<ProcessorParamsGnssSingleDiff>(_params)); prc->setName(_unique_name); return prc; }