diff --git a/cmake_modules/wolfConfig.cmake b/cmake_modules/wolfConfig.cmake
index 82bb7cf0a5523302eb3d6c7fd5064e382a6c59f5..c9321c445315da6e354b1f8423b7368745c14816 100644
--- a/cmake_modules/wolfConfig.cmake
+++ b/cmake_modules/wolfConfig.cmake
@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# match and reject with an explanation below.
find_package(Eigen3 ${wolf_EIGEN_VERSION} QUIET)
-
# Flag set with currently found Eigen version.
set(EIGEN_VERSION @EIGEN_VERSION@)
if (EIGEN3_FOUND)
diff --git a/include/IMU/processor/processor_IMU.h b/include/IMU/processor/processor_IMU.h
index d94f8a992ce7ce3cf531257b429a1e9f167ec5e3..e90affda5cd952abe0412bf1c6bcbe4cac839018 100644
--- a/include/IMU/processor/processor_IMU.h
+++ b/include/IMU/processor/processor_IMU.h
@@ -11,6 +11,8 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsIMU);
struct ProcessorParamsIMU : public ProcessorParamsMotion
{
+ // ProcessorParamsIMU() = default;
+ using ProcessorParamsMotion::ProcessorParamsMotion;
Scalar unmeasured_perturbation_std_ = 0.00001; // TODO: pass in processor motion?
};
diff --git a/include/IMU/sensor/sensor_IMU.h b/include/IMU/sensor/sensor_IMU.h
index 04d85ce04e47e4be13905a53abdccb946f472b9d..aa4bb06bf172c26299730c60dc9e614fa3da1b72 100644
--- a/include/IMU/sensor/sensor_IMU.h
+++ b/include/IMU/sensor/sensor_IMU.h
@@ -3,6 +3,7 @@
//wolf includes
#include "core/sensor/sensor_base.h"
+#include "core/utils/params_server.hpp"
#include <iostream>
namespace wolf {
@@ -27,6 +28,20 @@ struct IntrinsicsIMU : public IntrinsicsBase
Scalar wb_rate_stdev = 0.00001;
virtual ~IntrinsicsIMU() = default;
+ IntrinsicsIMU()
+ {
+ //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
+ }
+ IntrinsicsIMU(std::string _unique_name, const paramsServer& _server):
+ IntrinsicsBase(_unique_name, _server)
+ {
+ w_noise = _server.getParam<Scalar>(_unique_name + "/w_noise", "0.001");
+ a_noise = _server.getParam<Scalar>(_unique_name + "/a_noise", "0.004");
+ ab_initial_stdev = _server.getParam<Scalar>(_unique_name + "/ab_initial_stdev", "0.01");
+ wb_initial_stdev = _server.getParam<Scalar>(_unique_name + "/wb_initial_stdev", "0.01");
+ ab_rate_stdev = _server.getParam<Scalar>(_unique_name + "/ab_rate_stdev", "0.00001");
+ wb_rate_stdev = _server.getParam<Scalar>(_unique_name + "/wb_rate_stdev", "0.00001");
+ }
};
WOLF_PTR_TYPEDEFS(SensorIMU);
diff --git a/wolf_scripts/create_plugin.sh b/wolf_scripts/create_plugin.sh
new file mode 100755
index 0000000000000000000000000000000000000000..b1ca42f945f7f559a70e43377412faa8e6d4ec9c
--- /dev/null
+++ b/wolf_scripts/create_plugin.sh
@@ -0,0 +1,126 @@
+#!/bin/bash
+# $1 path to the root of the plugin
+# $2 name of the plugin
+# $3 files to be moved
+
+#Generate the necessary dirs
+# if [ ! -d $1 ];
+# then
+# mkdir $1
+# fi
+
+# if [ ! -d $1/include/$2 ];
+# then
+# # mkdir $1/include
+# mkdir $1/include/$2
+# fi
+# if [ ! -d $1/src ];
+# then
+# mkdir $1/src
+# fi
+root_dir=$(echo $1 | rev | cut -d '/' -f 2- | rev)
+if [ ! -d $root_dir/$2 ];
+then
+ cp -a ../Skeleton $root_dir
+ mv $root_dir/Skeleton $root_dir/$2
+ mv $root_dir/$2/include/skeleton $root_dir/$2/include/$2
+fi
+
+for folder in capture factor feature landmark processor sensor yaml ; do
+ if [ ! -d $1/include/$2/$folder ];
+ then
+ mkdir $1/include/$2/$folder
+ fi
+ if [ ! -d $1/src/$folder ];
+ then
+ mkdir $1/src/$folder
+ fi
+done
+for file in $(cat $3); do
+ head=$(echo $file | cut -d '/' -f 1)
+ if [ "$head" = "include" ];
+ then
+ folder=$(echo $file | cut -d '/' -f 3)
+ suffix=$(echo $file | cut -d '/' -f 4-)
+ line=$(ag "HDRS_"${folder^^} $1/CMakeLists.txt | cut -d ':' -f 1 | head -1)
+ line=$(($line + 1))
+ echo $line " && " $file " && " $folder " && " $suffix
+ if [ "$suffix" = "" ];
+ then
+ line=$(ag "HDRS_BASE" $1/CMakeLists.txt | cut -d ':' -f 1 | head -1)
+ line=$(($line + 1))
+ suffix=$folder
+ sed -i ""$line"i $head/$2/$suffix" $1/CMakeLists.txt
+ cp $file $1/$head/$2/$suffix
+ else
+ sed -i ""$line"i $head/$2/$folder/$suffix" $1/CMakeLists.txt
+ cp $file $1/$head/$2/$folder/$suffix
+ fi
+ elif [ "$head" = "src" ];
+ then
+ folder=$(echo $file | cut -d '/' -f 2)
+ suffix=$(echo $file | cut -d '/' -f 3-)
+ # ag "SRCS_"$folder $1/CMakeLists.txt
+ line=$(ag "SRCS_"${folder^^} $1/CMakeLists.txt | cut -d ':' -f 1 | head -1)
+ line=$(($line + 1))
+ echo $line " && " $file " && " $folder " && " $suffix
+ if [ "$suffix" = "" ];
+ then
+ line=$(ag "SRCS_BASE" $1/CMakeLists.txt | cut -d ':' -f 1 | head -1)
+ line=$(($line + 1))
+ suffix=$folder
+ sed -i ""$line"i $file" $1/CMakeLists.txt
+ cp $file $1/$head/$suffix
+ else
+ sed -i ""$line"i $file" $1/CMakeLists.txt
+ cp $file $1/$head/$folder/$suffix
+ fi
+ else
+ cp $file $1/$file
+ fi
+done
+for f in $(cat $3); do
+ hhead=$(echo $f | cut -d '/' -f 1)
+ if [ "$hhead" = "include" ];
+ then
+ ffolder=$(echo $f | cut -d '/' -f 3)
+ ssuffix=$(echo $f | cut -d '/' -f 4-)
+ inc=$ffolder/$ssuffix
+ else
+ continue
+ fi
+ for ff in $(cat $3); do
+ head=$(echo $ff | cut -d '/' -f 1)
+ if [ "$head" = "include" ];
+ then
+ folder=$(echo $ff | cut -d '/' -f 3)
+ suffix=$(echo $ff | cut -d '/' -f 4-)
+ if [ "$suffix" = "" ];
+ then
+ new_path=$1/$head/$2/$folder
+ sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $new_path
+ else
+ new_path=$1/$head/$2/$folder/$suffix
+ sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $new_path
+ fi
+ # sed -n -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@pg" $new_path
+ # sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $new_path
+ elif [ "$head" = "src" ];
+ then
+ folder=$(echo $ff | cut -d '/' -f 2)
+ suffix=$(echo $ff | cut -d '/' -f 3-)
+ # sed -n -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@pg" $new_path
+ if [ "$suffix" = "" ];
+ then
+ new_path=$1/$head/$folder
+ sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $new_path
+ else
+ new_path=$1/$head/$folder/$suffix
+ sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $new_path
+ fi
+ else
+ # sed -n -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@pg" $new_path
+ sed -i -E "s@(#include[[:space:]]+\")base(\/$inc\")@\1$2\2@g" $1/$ff
+ fi
+ done
+done
\ No newline at end of file