diff --git a/include/IMU/processor/processor_IMU.h b/include/IMU/processor/processor_IMU.h
index 7a6a7f9a168c9fb4bb11586f4a4e8a39d7b1c6b6..ed48c392a1139e32be86644f9bdd70a71b894dac 100644
--- a/include/IMU/processor/processor_IMU.h
+++ b/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,
diff --git a/include/IMU/sensor/sensor_IMU.h b/include/IMU/sensor/sensor_IMU.h
index c5da4386a10bc06e40609f16eba9ee9d31fef084..b70d25aab736531beb58faebfa6d6c9089b08530 100644
--- a/include/IMU/sensor/sensor_IMU.h
+++ b/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
diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_IMU.cpp
index fdb2cecef0f134882fdd6b45232c6c03479f495b..d23e282c59e50180339163bb8f612ff37a5771e7 100644
--- a/src/processor/processor_IMU.cpp
+++ b/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)
}
diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_IMU.cpp
index 393af0da7bd0f09ce4f5b5999f2af8c6042ce799..deb652ce43bc32f52be45a81403b6b79d5dff84f 100644
--- a/src/sensor/sensor_IMU.cpp
+++ b/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