From e44e021df4579695d889fb116d44f6ba264955d2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 2 Aug 2019 04:35:31 +0200
Subject: [PATCH] Remove sensor from processor creators
---
include/gnss/processor/processor_gnss_fix.h | 4 ++--
include/gnss/processor/processor_gnss_single_diff.h | 4 ++--
src/processor/processor_gnss_fix.cpp | 8 +++-----
src/processor/processor_gnss_single_diff.cpp | 7 +++----
4 files changed, 10 insertions(+), 13 deletions(-)
diff --git a/include/gnss/processor/processor_gnss_fix.h b/include/gnss/processor/processor_gnss_fix.h
index 4bd3dfe2e..ccefe6061 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 b425b162d..7265baca4 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 f11be23a5..2eee30479 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 3bc0a79c7..7afcfd29d 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;
}
--
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