added autoconf for IMU sensor and processor (all tests passed)

include/IMU/processor/processor_IMU.h

@@ -11,9 +11,6 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsIMU);
 
 struct ProcessorParamsIMU : public ProcessorParamsMotion
 {
-  // ProcessorParamsIMU() = default;
-    // using ProcessorParamsMotion::ProcessorParamsMotion;
-
     ProcessorParamsIMU() = default;
     ProcessorParamsIMU(std::string _unique_name, const ParamsServer& _server):
         ProcessorParamsMotion(_unique_name, _server)
@@ -35,8 +32,7 @@ class ProcessorIMU : public ProcessorMotion{
         virtual ~ProcessorIMU();
         virtual void configure(SensorBasePtr _sensor) override { };
 
-        // Factory method for high level API
-        static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
+        WOLF_PROCESSOR_CREATE(ProcessorIMU, ProcessorParamsIMU);
 
     protected:
         virtual void computeCurrentDelta(const Eigen::VectorXd& _data,

include/IMU/sensor/sensor_IMU.h

@@ -13,19 +13,19 @@ WOLF_STRUCT_PTR_TYPEDEFS(IntrinsicsIMU);
 
 struct IntrinsicsIMU : public IntrinsicsBase
 {
-        //noise std dev
-        double w_noise = 0.001; //standard deviation of Gyroscope noise (same for all the axis) in rad/sec/ sqrt(s)
-        double a_noise = 0.04; //standard deviation of Acceleration noise (same for all the axis) in m/s2/sqrt(s)
+    //noise std dev
+    double w_noise = 0.001; //standard deviation of Gyroscope noise (same for all the axis) in rad/sec/ sqrt(s)
+    double a_noise = 0.04; //standard deviation of Acceleration noise (same for all the axis) in m/s2/sqrt(s)
 
-        //Initial biases std dev
-        double ab_initial_stdev = 0.01; //accelerometer micro_g/sec
-        double wb_initial_stdev = 0.01; //gyroscope rad/sec
+    //Initial biases std dev
+    double ab_initial_stdev = 0.01; //accelerometer micro_g/sec
+    double wb_initial_stdev = 0.01; //gyroscope rad/sec
 
-        // bias rate of change std dev
-        double ab_rate_stdev = 0.00001;
-        double wb_rate_stdev = 0.00001;
+    // bias rate of change std dev
+    double ab_rate_stdev = 0.00001;
+    double wb_rate_stdev = 0.00001;
 
-        virtual ~IntrinsicsIMU() = default;
+    virtual ~IntrinsicsIMU() = default;
     IntrinsicsIMU()
     {
         //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
@@ -33,12 +33,12 @@ struct IntrinsicsIMU : public IntrinsicsBase
     IntrinsicsIMU(std::string _unique_name, const ParamsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
-        w_noise             = _server.getParam<double>(_unique_name + "/w_noise");
-        a_noise             = _server.getParam<double>(_unique_name + "/a_noise");
-        ab_initial_stdev    = _server.getParam<double>(_unique_name + "/ab_initial_stdev");
-        wb_initial_stdev    = _server.getParam<double>(_unique_name + "/wb_initial_stdev");
-        ab_rate_stdev       = _server.getParam<double>(_unique_name + "/ab_rate_stdev");
-        wb_rate_stdev       = _server.getParam<double>(_unique_name + "/wb_rate_stdev");
+        w_noise             = _server.getParam<double>(prefix + _unique_name + "/w_noise");
+        a_noise             = _server.getParam<double>(prefix + _unique_name + "/a_noise");
+        ab_initial_stdev    = _server.getParam<double>(prefix + _unique_name + "/ab_initial_stdev");
+        wb_initial_stdev    = _server.getParam<double>(prefix + _unique_name + "/wb_initial_stdev");
+        ab_rate_stdev       = _server.getParam<double>(prefix + _unique_name + "/ab_rate_stdev");
+        wb_rate_stdev       = _server.getParam<double>(prefix + _unique_name + "/wb_rate_stdev");
     }
     std::string print() const
     {
@@ -71,6 +71,7 @@ class SensorIMU : public SensorBase
 
         SensorIMU(const Eigen::VectorXd& _extrinsics, const IntrinsicsIMU& _params);
         SensorIMU(const Eigen::VectorXd& _extrinsics, IntrinsicsIMUPtr _params);
+        WOLF_SENSOR_CREATE(SensorIMU, IntrinsicsIMU, 7);
 
         double getGyroNoise() const;
         double getAccelNoise() const;
@@ -80,10 +81,6 @@ class SensorIMU : public SensorBase
         double getAbRateStdev() const;
 
         virtual ~SensorIMU();
-
-    public:
-        static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics_pq, const IntrinsicsBasePtr _intrinsics = nullptr);
-
 };
 
 inline double SensorIMU::getGyroNoise() const

src/processor/processor_IMU.cpp

@@ -21,17 +21,6 @@ ProcessorIMU::~ProcessorIMU()
     //
 }
 
-ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
-{
-    auto prc_imu_params = std::static_pointer_cast<ProcessorParamsIMU>(_params);
-
-    auto prc_ptr = std::make_shared<ProcessorIMU>(prc_imu_params);
-
-    prc_ptr->setName(_unique_name);
-
-    return prc_ptr;
-}
-
 bool ProcessorIMU::voteForKeyFrame() const
 {
     // time span
@@ -210,4 +199,5 @@ void ProcessorIMU::deltaPlusDelta(const Eigen::VectorXd& _delta_preint,
 namespace wolf
 {
 WOLF_REGISTER_PROCESSOR("ProcessorIMU", ProcessorIMU)
+WOLF_REGISTER_PROCESSOR_AUTO("ProcessorIMU", ProcessorIMU)
 }

src/sensor/sensor_IMU.cpp

@@ -27,23 +27,11 @@ SensorIMU::~SensorIMU()
     //
 }
 
-// Define the factory method
-SensorBasePtr SensorIMU::create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics_pq,
-                              const IntrinsicsBasePtr _intrinsics)
-{
-    // decode extrinsics vector
-    assert(_extrinsics_pq.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3D.");
-
-    IntrinsicsIMUPtr params = std::static_pointer_cast<IntrinsicsIMU>(_intrinsics);
-    SensorIMUPtr sen = std::make_shared<SensorIMU>(_extrinsics_pq, params);
-    sen->setName(_unique_name);
-    return sen;
-}
-
 } // namespace wolf
 
 // Register in the SensorFactory
 #include "core/sensor/sensor_factory.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorIMU", SensorIMU)
+WOLF_REGISTER_SENSOR_AUTO("SensorIMU", SensorIMU);
 } // namespace wolf