diff --git a/CMakeLists.txt b/CMakeLists.txt index 67ef6f0b03b6d7d9c8638a38439607ddb35b09d9..4c6e49d2fe919dabdaa1ff01f1ec18589edb8e52 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,5 +1,5 @@ # Pre-requisites about cmake itself -CMAKE_MINIMUM_REQUIRED(VERSION 2.6) +CMAKE_MINimuM_REQUIRED(VERSION 2.6) if(COMMAND cmake_policy) cmake_policy(SET CMP0005 NEW) @@ -10,7 +10,7 @@ SET(CMAKE_MACOSX_RPATH 1) # The project name -PROJECT(IMU) +PROJECT(imu) set(PLUGIN_NAME "wolf${PROJECT_NAME}") @@ -72,7 +72,7 @@ if(BUILD_TESTS) endif() MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...") -CMAKE_MINIMUM_REQUIRED(VERSION 2.8) +CMAKE_MINimuM_REQUIRED(VERSION 2.8) #CMAKE modules @@ -127,26 +127,26 @@ INCLUDE_DIRECTORIES(BEFORE "include") SET(HDRS_COMMON ) SET(HDRS_MATH - include/IMU/math/IMU_tools.h + include/imu/math/imu_tools.h ) SET(HDRS_UTILS ) SET(HDRS_CAPTURE - include/IMU/capture/capture_IMU.h + include/imu/capture/capture_imu.h ) SET(HDRS_FACTOR - include/IMU/factor/factor_IMU.h + include/imu/factor/factor_imu.h ) SET(HDRS_FEATURE - include/IMU/feature/feature_IMU.h + include/imu/feature/feature_imu.h ) SET(HDRS_LANDMARK ) SET(HDRS_PROCESSOR - include/IMU/processor/processor_IMU.h + include/imu/processor/processor_imu.h ) SET(HDRS_SENSOR - include/IMU/sensor/sensor_IMU.h + include/imu/sensor/sensor_imu.h ) SET(HDRS_SOLVER ) @@ -158,35 +158,35 @@ SET(HDRS_DTASSC SET(SRCS_COMMON ) SET(SRCS_MATH - include/IMU/math/IMU_tools.h + include/imu/math/imu_tools.h ) SET(SRCS_UTILS ) SET(SRCS_CAPTURE - src/capture/capture_IMU.cpp + src/capture/capture_imu.cpp ) SET(SRCS_FACTOR ) SET(SRCS_FEATURE - src/feature/feature_IMU.cpp + src/feature/feature_imu.cpp ) SET(SRCS_LANDMARK ) SET(SRCS_PROCESSOR - src/processor/processor_IMU.cpp - test/processor_IMU_UnitTester.cpp + src/processor/processor_imu.cpp + test/processor_imu_UnitTester.cpp ) SET(SRCS_SENSOR - src/sensor/sensor_IMU.cpp + src/sensor/sensor_imu.cpp ) SET(SRCS_DTASSC ) SET(SRCS_SOLVER ) SET(SRCS_YAML - src/yaml/processor_IMU_yaml.cpp - src/yaml/sensor_IMU_yaml.cpp + src/yaml/processor_imu_yaml.cpp + src/yaml/sensor_imu_yaml.cpp ) #OPTIONALS #optional HDRS and SRCS @@ -287,7 +287,7 @@ INSTALL(FILES ${HDRS_YAML} INSTALL(FILES ${PROJECT_NAME}.found DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}) -FILE(WRITE IMU.found "") +FILE(WRITE imu.found "") INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h" DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal) diff --git a/cmake_modules/wolfIMUConfig.cmake b/cmake_modules/wolfIMUConfig.cmake deleted file mode 100644 index fbf1da76c0e046f7f925509176a6ef17fbdc8995..0000000000000000000000000000000000000000 --- a/cmake_modules/wolfIMUConfig.cmake +++ /dev/null @@ -1,79 +0,0 @@ -#edit the following line to add the librarie's header files -FIND_PATH( - wolfIMU_INCLUDE_DIRS - NAMES IMU.found - PATHS /usr/local/include/iri-algorithms/wolf/plugin_IMU) -IF(wolfIMU_INCLUDE_DIRS) - MESSAGE("Found wolf IMU include dirs: ${wolfIMU_INCLUDE_DIRS}") -ELSE(wolfIMU_INCLUDE_DIRS) - MESSAGE("Couldn't find wolf IMU include dirs") -ENDIF(wolfIMU_INCLUDE_DIRS) - -FIND_LIBRARY( - wolfIMU_LIBRARIES - NAMES libwolfIMU.so libwolfIMU.dylib - PATHS /usr/local/lib/iri-algorithms) -IF(wolfIMU_LIBRARIES) - MESSAGE("Found wolf IMU lib: ${wolfIMU_LIBRARIES}") -ELSE(wolfIMU_LIBRARIES) - MESSAGE("Couldn't find wolf IMU lib") -ENDIF(wolfIMU_LIBRARIES) - -IF (wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES) - SET(wolfIMU_FOUND TRUE) - ELSE(wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES) - set(wolfIMU_FOUND FALSE) -ENDIF (wolfIMU_INCLUDE_DIRS AND wolfIMU_LIBRARIES) - -IF (wolfIMU_FOUND) - IF (NOT wolfIMU_FIND_QUIETLY) - MESSAGE(STATUS "Found wolf IMU: ${wolfIMU_LIBRARIES}") - ENDIF (NOT wolfIMU_FIND_QUIETLY) -ELSE (wolfIMU_FOUND) - IF (wolfIMU_FIND_REQUIRED) - MESSAGE(FATAL_ERROR "Could not find wolf IMU") - ENDIF (wolfIMU_FIND_REQUIRED) -ENDIF (wolfIMU_FOUND) - - -macro(wolf_report_not_found REASON_MSG) - set(wolfIMU_FOUND FALSE) - unset(wolfIMU_INCLUDE_DIRS) - unset(wolfIMU_LIBRARIES) - - # Reset the CMake module path to its state when this script was called. - set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) - - # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by - # FindPackage() use the camelcase library name, not uppercase. - if (wolfIMU_FIND_QUIETLY) - message(STATUS "Failed to find wolf IMU- " ${REASON_MSG} ${ARGN}) - else (wolfIMU_FIND_REQUIRED) - message(FATAL_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN}) - else() - # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error - # that prevents generation, but continues configuration. - message(SEND_ERROR "Failed to find wolf IMU - " ${REASON_MSG} ${ARGN}) - endif () - return() -endmacro(wolf_report_not_found) - -if(NOT wolfIMU_FOUND) - wolf_report_not_found("Something went wrong while setting up wolf IMU.") -endif(NOT wolfIMU_FOUND) -# Set the include directories for wolf (itself). -set(wolfIMU_FOUND TRUE) - -# Now we gather all the required dependencies for Wolf IMU -if(NOT wolf_FOUND) - FIND_PACKAGE(wolf REQUIRED) - - #We reverse in order to insert at the start - list(REVERSE wolfIMU_INCLUDE_DIRS) - list(APPEND wolfIMU_INCLUDE_DIRS ${wolf_INCLUDE_DIRS}) - list(REVERSE wolfIMU_INCLUDE_DIRS) - - list(REVERSE wolfIMU_LIBRARIES) - list(APPEND wolfIMU_LIBRARIES ${wolf_LIBRARIES}) - list(REVERSE wolfIMU_LIBRARIES) -endif() diff --git a/cmake_modules/wolfimuConfig.cmake b/cmake_modules/wolfimuConfig.cmake new file mode 100644 index 0000000000000000000000000000000000000000..a671544bc37e09358bb5d859d9d2c4d636a455bd --- /dev/null +++ b/cmake_modules/wolfimuConfig.cmake @@ -0,0 +1,79 @@ +#edit the following line to add the librarie's header files +FIND_PATH( + wolfimu_INCLUDE_DIRS + NAMES imu.found + PATHS /usr/local/include/iri-algorithms/wolf/plugin_imu) +IF(wolfimu_INCLUDE_DIRS) + MESSAGE("Found wolf imu include dirs: ${wolfimu_INCLUDE_DIRS}") +ELSE(wolfimu_INCLUDE_DIRS) + MESSAGE("Couldn't find wolf imu include dirs") +ENDIF(wolfimu_INCLUDE_DIRS) + +FIND_LIBRARY( + wolfimu_LIBRARIES + NAMES libwolfimu.so libwolfimu.dylib + PATHS /usr/local/lib/iri-algorithms) +IF(wolfimu_LIBRARIES) + MESSAGE("Found wolf imu lib: ${wolfimu_LIBRARIES}") +ELSE(wolfimu_LIBRARIES) + MESSAGE("Couldn't find wolf imu lib") +ENDIF(wolfimu_LIBRARIES) + +IF (wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES) + SET(wolfimu_FOUND TRUE) + ELSE(wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES) + set(wolfimu_FOUND FALSE) +ENDIF (wolfimu_INCLUDE_DIRS AND wolfimu_LIBRARIES) + +IF (wolfimu_FOUND) + IF (NOT wolfimu_FIND_QUIETLY) + MESSAGE(STATUS "Found wolf imu: ${wolfimu_LIBRARIES}") + ENDIF (NOT wolfimu_FIND_QUIETLY) +ELSE (wolfimu_FOUND) + IF (wolfimu_FIND_REQUIRED) + MESSAGE(FATAL_ERROR "Could not find wolf imu") + ENDIF (wolfimu_FIND_REQUIRED) +ENDIF (wolfimu_FOUND) + + +macro(wolf_report_not_found REASON_MSG) + set(wolfimu_FOUND FALSE) + unset(wolfimu_INCLUDE_DIRS) + unset(wolfimu_LIBRARIES) + + # Reset the CMake module path to its state when this script was called. + set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH}) + + # Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by + # FindPackage() use the camelcase library name, not uppercase. + if (wolfimu_FIND_QUIETLY) + message(STATUS "Failed to find wolf imu- " ${REASON_MSG} ${ARGN}) + else (wolfimu_FIND_REQUIRED) + message(FATAL_ERROR "Failed to find wolf imu - " ${REASON_MSG} ${ARGN}) + else() + # Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error + # that prevents generation, but continues configuration. + message(SEND_ERROR "Failed to find wolf imu - " ${REASON_MSG} ${ARGN}) + endif () + return() +endmacro(wolf_report_not_found) + +if(NOT wolfimu_FOUND) + wolf_report_not_found("Something went wrong while setting up wolf imu.") +endif(NOT wolfimu_FOUND) +# Set the include directories for wolf (itself). +set(wolfimu_FOUND TRUE) + +# Now we gather all the required dependencies for Wolf imu +if(NOT wolf_FOUND) + FIND_PACKAGE(wolf REQUIRED) + + #We reverse in order to insert at the start + list(REVERSE wolfimu_INCLUDE_DIRS) + list(APPEND wolfimu_INCLUDE_DIRS ${wolf_INCLUDE_DIRS}) + list(REVERSE wolfimu_INCLUDE_DIRS) + + list(REVERSE wolfimu_LIBRARIES) + list(APPEND wolfimu_LIBRARIES ${wolf_LIBRARIES}) + list(REVERSE wolfimu_LIBRARIES) +endif() diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp index f99b44448fb07d337a0319b3bb451560daf19c76..0a09c665e1fe8d18292019ded6d91e6e7ef33543 100644 --- a/demos/demo_factor_imu.cpp +++ b/demos/demo_factor_imu.cpp @@ -1,7 +1,7 @@ //Wolf -#include "core/capture/capture_IMU.h" -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/capture/capture_imu.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/capture/capture_pose.h" #include "core/common/wolf.h" #include "core/problem/problem.h" diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp index 6c3d190af92ff9606d20ee1bb2cf7a879b2b16fd..73f693e491acf81eb4020cfc99099f66f09ed94e 100644 --- a/demos/demo_imuDock.cpp +++ b/demos/demo_imuDock.cpp @@ -5,8 +5,8 @@ * \author: Dinesh Atchuthan */ -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/ceres_wrapper/ceres_manager.h" diff --git a/demos/demo_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp index c22345556e017078596b7f813be05fa9474967d4..cfd482b6faea95d6bd606c04fdc1e9370ba9a837 100644 --- a/demos/demo_imuDock_autoKFs.cpp +++ b/demos/demo_imuDock_autoKFs.cpp @@ -5,8 +5,8 @@ * \author: Dinesh Atchuthan */ -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/ceres_wrapper/ceres_manager.h" diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp index 0b98b3e9675c6c0bf0a3ca1c559d4e4fbcc70f02..a118fdedc2a933e21469981312f37c799ba03619 100644 --- a/demos/demo_imuPlateform_Offline.cpp +++ b/demos/demo_imuPlateform_Offline.cpp @@ -1,7 +1,7 @@ //Wolf -#include "core/capture/capture_IMU.h" -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/capture/capture_imu.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/sensor/sensor_odom_3D.h" diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp index cff689aaf16c1e4692c79f27f2becf56827acca3..e4fa5097faa18a6eae788fd91b269f82a5575889 100644 --- a/demos/demo_imu_constrained0.cpp +++ b/demos/demo_imu_constrained0.cpp @@ -1,7 +1,7 @@ //Wolf -#include "core/capture/capture_IMU.h" -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/capture/capture_imu.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/sensor/sensor_odom_3D.h" diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp index e6062abbc6310e580e1623b9c01d851e4184a988..1a316f6f1f2f5119f945b45996c8a33ec4a0f3e2 100644 --- a/demos/demo_processor_imu.cpp +++ b/demos/demo_processor_imu.cpp @@ -6,9 +6,9 @@ */ //Wolf -#include "core/capture/capture_IMU.h" -#include "core/processor/processor_IMU.h" -#include "core/sensor/sensor_IMU.h" +#include "core/capture/capture_imu.h" +#include "core/processor/processor_imu.h" +#include "core/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/state_block/state_block.h" diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp index 3555fa9c8f96c337e7375588684cdbb55bd29383..0fb08c404599016f872ad6d0f69691de5b519d98 100644 --- a/demos/demo_processor_imu_jacobians.cpp +++ b/demos/demo_processor_imu_jacobians.cpp @@ -6,9 +6,9 @@ */ //Wolf -#include "core/capture/capture_IMU.h" -#include "core/sensor/sensor_IMU.h" -#include <test/processor_IMU_UnitTester.h> +#include "core/capture/capture_imu.h" +#include "core/sensor/sensor_imu.h" +#include <test/processor_imu_UnitTester.h> #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/state_block/state_block.h" diff --git a/include/IMU/capture/capture_IMU.h b/include/imu/capture/capture_imu.h similarity index 97% rename from include/IMU/capture/capture_IMU.h rename to include/imu/capture/capture_imu.h index c5c3174f954668ec3aa3ac29e89715f20cc8a7c4..ef150f8b9916696d990718a7558feb45f46fd812 100644 --- a/include/IMU/capture/capture_IMU.h +++ b/include/imu/capture/capture_imu.h @@ -2,7 +2,7 @@ #define CAPTURE_IMU_H //Wolf includes -#include "IMU/math/IMU_tools.h" +#include "imu/math/imu_tools.h" #include "core/capture/capture_motion.h" namespace wolf { diff --git a/include/IMU/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h similarity index 97% rename from include/IMU/factor/factor_fix_bias.h rename to include/imu/factor/factor_fix_bias.h index 13150f83dab99d269a534c450d623a02981442fa..9292e92374a862a41b67eb37f4a1a05669a88602 100644 --- a/include/IMU/factor/factor_fix_bias.h +++ b/include/imu/factor/factor_fix_bias.h @@ -3,8 +3,8 @@ #define FACTOR_FIX_BIAS_H_ //Wolf includes -#include "IMU/capture/capture_IMU.h" -#include "IMU/feature/feature_IMU.h" +#include "imu/capture/capture_imu.h" +#include "imu/feature/feature_imu.h" #include "core/factor/factor_autodiff.h" #include "core/frame/frame_base.h" #include "core/math/rotations.h" diff --git a/include/IMU/factor/factor_IMU.h b/include/imu/factor/factor_imu.h similarity index 99% rename from include/IMU/factor/factor_IMU.h rename to include/imu/factor/factor_imu.h index 60c94a9288d45d337d61280dc8d4d007cfa53101..63df0350702725c2ee127a8a1f52d579f61fba73 100644 --- a/include/IMU/factor/factor_IMU.h +++ b/include/imu/factor/factor_imu.h @@ -2,8 +2,8 @@ #define FACTOR_IMU_THETA_H_ //Wolf includes -#include "IMU/feature/feature_IMU.h" -#include "IMU/sensor/sensor_IMU.h" +#include "imu/feature/feature_imu.h" +#include "imu/sensor/sensor_imu.h" #include "core/factor/factor_autodiff.h" #include "core/math/rotations.h" diff --git a/include/IMU/feature/feature_IMU.h b/include/imu/feature/feature_imu.h similarity index 98% rename from include/IMU/feature/feature_IMU.h rename to include/imu/feature/feature_imu.h index 6497213dc85c6996930208a48d64b479152c34a8..3f45dd14aa613248b59211122567c72117eb77b3 100644 --- a/include/IMU/feature/feature_IMU.h +++ b/include/imu/feature/feature_imu.h @@ -2,7 +2,7 @@ #define FEATURE_IMU_H_ //Wolf includes -#include "IMU/capture/capture_IMU.h" +#include "imu/capture/capture_imu.h" #include "core/feature/feature_base.h" #include "core/common/wolf.h" diff --git a/include/IMU/math/IMU_tools.h b/include/imu/math/imu_tools.h similarity index 100% rename from include/IMU/math/IMU_tools.h rename to include/imu/math/imu_tools.h diff --git a/include/IMU/processor/processor_IMU.h b/include/imu/processor/processor_imu.h similarity index 98% rename from include/IMU/processor/processor_IMU.h rename to include/imu/processor/processor_imu.h index 92aa170a89781a114e9d446acce55c6f5b24b12b..0cb27344610485b91f45770b32370faa81d4ab8d 100644 --- a/include/IMU/processor/processor_IMU.h +++ b/include/imu/processor/processor_imu.h @@ -2,8 +2,8 @@ #define PROCESSOR_IMU_H // Wolf -#include "IMU/capture/capture_IMU.h" -#include "IMU/feature/feature_IMU.h" +#include "imu/capture/capture_imu.h" +#include "imu/feature/feature_imu.h" #include "core/processor/processor_motion.h" namespace wolf { diff --git a/include/IMU/sensor/sensor_IMU.h b/include/imu/sensor/sensor_imu.h similarity index 100% rename from include/IMU/sensor/sensor_IMU.h rename to include/imu/sensor/sensor_imu.h diff --git a/src/capture/capture_IMU.cpp b/src/capture/capture_imu.cpp similarity index 93% rename from src/capture/capture_IMU.cpp rename to src/capture/capture_imu.cpp index dfdc45a93e3e1357f6fb701cec6aaf0ff713a36e..08e7dbc3cc90b9f81707f8677be6a5c6219601f8 100644 --- a/src/capture/capture_IMU.cpp +++ b/src/capture/capture_imu.cpp @@ -1,5 +1,5 @@ -#include "IMU/capture/capture_IMU.h" -#include "IMU/sensor/sensor_IMU.h" +#include "imu/capture/capture_imu.h" +#include "imu/sensor/sensor_imu.h" #include "core/state_block/state_quaternion.h" namespace wolf { diff --git a/src/feature/feature_IMU.cpp b/src/feature/feature_imu.cpp similarity index 96% rename from src/feature/feature_IMU.cpp rename to src/feature/feature_imu.cpp index cf1773d645c2532caadd3d7b8af664260b84cf3e..405c1403b71a75df4f93d3ce402b8828b5697dfa 100644 --- a/src/feature/feature_IMU.cpp +++ b/src/feature/feature_imu.cpp @@ -1,4 +1,4 @@ -#include "IMU/feature/feature_IMU.h" +#include "imu/feature/feature_imu.h" namespace wolf { diff --git a/src/processor/processor_IMU.cpp b/src/processor/processor_imu.cpp similarity index 96% rename from src/processor/processor_IMU.cpp rename to src/processor/processor_imu.cpp index 4a72c446c412c768aea00d03a757aae3e6342030..48e737fd79e53aed2e703795f30fac141dab2a7c 100644 --- a/src/processor/processor_IMU.cpp +++ b/src/processor/processor_imu.cpp @@ -1,12 +1,13 @@ // wolf -#include "IMU/processor/processor_IMU.h" -#include "IMU/factor/factor_IMU.h" -#include "IMU/math/IMU_tools.h" +#include "imu/processor/processor_imu.h" +#include "imu/factor/factor_imu.h" +#include "imu/math/imu_tools.h" namespace wolf { ProcessorIMU::ProcessorIMU(ProcessorParamsIMUPtr _params_motion_IMU) : - ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_IMU), + // ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_IMU), + ProcessorMotion("ProcessorImu", 10, 10, 9, 6, 6, _params_motion_IMU), params_motion_IMU_(std::make_shared<ProcessorParamsIMU>(*_params_motion_IMU)) { // Set constant parts of Jacobians diff --git a/src/sensor/sensor_IMU.cpp b/src/sensor/sensor_imu.cpp similarity index 97% rename from src/sensor/sensor_IMU.cpp rename to src/sensor/sensor_imu.cpp index cb42c09812018b8fa31f40cce479627f8098850c..cff4178c9975f0282ae25df7522aef37bc11a3a1 100644 --- a/src/sensor/sensor_IMU.cpp +++ b/src/sensor/sensor_imu.cpp @@ -1,4 +1,4 @@ -#include "IMU/sensor/sensor_IMU.h" +#include "imu/sensor/sensor_imu.h" #include "core/state_block/state_block.h" #include "core/state_block/state_quaternion.h" diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_imu_yaml.cpp similarity index 97% rename from src/yaml/processor_IMU_yaml.cpp rename to src/yaml/processor_imu_yaml.cpp index 681f7243402ac81745651cd88ed065123a482347..d4756a4dd0b6e7b0b7e705e993d52334a432249c 100644 --- a/src/yaml/processor_IMU_yaml.cpp +++ b/src/yaml/processor_imu_yaml.cpp @@ -6,7 +6,7 @@ */ // wolf yaml -#include "IMU/processor/processor_IMU.h" +#include "imu/processor/processor_imu.h" #include "core/yaml/yaml_conversion.h" // wolf diff --git a/src/yaml/sensor_IMU_yaml.cpp b/src/yaml/sensor_imu_yaml.cpp similarity index 97% rename from src/yaml/sensor_IMU_yaml.cpp rename to src/yaml/sensor_imu_yaml.cpp index 89d7c382f48d8202fa439009ba9ff3a5191cb3e9..575ec70054732295e3f6126d93918e11d406baf5 100644 --- a/src/yaml/sensor_IMU_yaml.cpp +++ b/src/yaml/sensor_imu_yaml.cpp @@ -6,7 +6,7 @@ */ // wolf yaml -#include "IMU/sensor/sensor_IMU.h" +#include "imu/sensor/sensor_imu.h" #include "core/yaml/yaml_conversion.h" // wolf diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index 266bdfb1e5e5e3faf8adf566570285b0be5eee57..35a9d415d3016f1b4849c398d8ad9aabeff12f85 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -13,22 +13,22 @@ target_link_libraries(gtest_example ${PLUGIN_NAME}) # # # ########################################################### -wolf_add_gtest(gtest_processor_IMU gtest_processor_IMU.cpp) -target_link_libraries(gtest_processor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY}) +wolf_add_gtest(gtest_processor_imu gtest_processor_imu.cpp) +target_link_libraries(gtest_processor_imu ${PLUGIN_NAME} ${wolf_LIBRARY}) -wolf_add_gtest(gtest_IMU gtest_IMU.cpp) -target_link_libraries(gtest_IMU ${PLUGIN_NAME} ${wolf_LIBRARY}) +wolf_add_gtest(gtest_imu gtest_imu.cpp) +target_link_libraries(gtest_imu ${PLUGIN_NAME} ${wolf_LIBRARY}) -wolf_add_gtest(gtest_IMU_tools gtest_IMU_tools.cpp) -target_link_libraries(gtest_IMU_tools ${PLUGIN_NAME} ${wolf_LIBRARY}) +wolf_add_gtest(gtest_imu_tools gtest_imu_tools.cpp) +target_link_libraries(gtest_imu_tools ${PLUGIN_NAME} ${wolf_LIBRARY}) -wolf_add_gtest(gtest_processor_IMU_jacobians gtest_processor_IMU_jacobians.cpp) -target_link_libraries(gtest_processor_IMU_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY}) +wolf_add_gtest(gtest_processor_imu_jacobians gtest_processor_imu_jacobians.cpp) +target_link_libraries(gtest_processor_imu_jacobians ${PLUGIN_NAME} ${wolf_LIBRARY}) -wolf_add_gtest(gtest_feature_IMU gtest_feature_IMU.cpp) -target_link_libraries(gtest_feature_IMU ${PLUGIN_NAME} ${wolf_LIBRARY}) +wolf_add_gtest(gtest_feature_imu gtest_feature_imu.cpp) +target_link_libraries(gtest_feature_imu ${PLUGIN_NAME} ${wolf_LIBRARY}) # Has been excluded from tests for god knows how long, so thing is broken. # Maybe call an archeologist to fix this thing? -# wolf_add_gtest(gtest_factor_IMU gtest_factor_IMU.cpp) -# target_link_libraries(gtest_factor_IMU ${PLUGIN_NAME} ${wolf_LIBRARY}) +# wolf_add_gtest(gtest_factor_imu gtest_factor_imu.cpp) +# target_link_libraries(gtest_factor_imu ${PLUGIN_NAME} ${wolf_LIBRARY}) diff --git a/test/gtest_factor_IMU.cpp b/test/gtest_factor_imu.cpp similarity index 99% rename from test/gtest_factor_IMU.cpp rename to test/gtest_factor_imu.cpp index 2c70a6321acd19833615e20d782341e54bfaad84..b734f7665eb3b219d296e64c915c9847ca00891f 100644 --- a/test/gtest_factor_IMU.cpp +++ b/test/gtest_factor_imu.cpp @@ -10,9 +10,9 @@ // IMU #include "imu/internal/config.h" -#include "imu/capture/capture_IMU.h" -#include "imu/processor/processor_IMU.h" -#include "imu/sensor/sensor_IMU.h" +#include "imu/capture/capture_imu.h" +#include "imu/processor/processor_imu.h" +#include "imu/sensor/sensor_imu.h" //Wolf #include <core/factor/factor_pose_3D.h> diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_imu.cpp similarity index 98% rename from test/gtest_feature_IMU.cpp rename to test/gtest_feature_imu.cpp index ba537cc567b516cbc4ee5470644b2d059296e372..41a5599ec3032fda5ee408368afd9c7f0541f7d4 100644 --- a/test/gtest_feature_IMU.cpp +++ b/test/gtest_feature_imu.cpp @@ -1,7 +1,7 @@ //Wolf -#include "IMU/capture/capture_IMU.h" -#include "IMU/processor/processor_IMU.h" -#include "IMU/sensor/sensor_IMU.h" +#include "imu/capture/capture_imu.h" +#include "imu/processor/processor_imu.h" +#include "imu/sensor/sensor_imu.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/state_block/state_block.h" diff --git a/test/gtest_IMU.cpp b/test/gtest_imu.cpp similarity index 99% rename from test/gtest_IMU.cpp rename to test/gtest_imu.cpp index 52aff0fcd243ed30cd602af4e4f801a0e7347e42..48fb83e9fe737427b43e6b128eae35d5824948ca 100644 --- a/test/gtest_IMU.cpp +++ b/test/gtest_imu.cpp @@ -6,10 +6,10 @@ */ //Wolf -#include "IMU/processor/processor_IMU.h" -#include "IMU/sensor/sensor_IMU.h" +#include "imu/processor/processor_imu.h" +#include "imu/sensor/sensor_imu.h" -#include "IMU/internal/config.h" +#include "imu/internal/config.h" #include <core/common/wolf.h> #include <core/sensor/sensor_odom_3D.h> diff --git a/test/gtest_IMU_tools.cpp b/test/gtest_imu_tools.cpp similarity index 99% rename from test/gtest_IMU_tools.cpp rename to test/gtest_imu_tools.cpp index 16730096e0e31900010b18a13ca11c1ffa21a20a..da88317f0e3dae17d26ee59670f2d25e8bc65518 100644 --- a/test/gtest_IMU_tools.cpp +++ b/test/gtest_imu_tools.cpp @@ -5,7 +5,7 @@ * Author: jsola */ -#include "IMU/math/IMU_tools.h" +#include "imu/math/imu_tools.h" #include <core/utils/utils_gtest.h> using namespace Eigen; diff --git a/test/gtest_processor_IMU.cpp b/test/gtest_processor_imu.cpp similarity index 99% rename from test/gtest_processor_IMU.cpp rename to test/gtest_processor_imu.cpp index 1f059b193f8e5fbf5f96f5024543223ffa0840c2..49e4cfd46dec4a01b3db2d4d3d03b40cc38299ab 100644 --- a/test/gtest_processor_IMU.cpp +++ b/test/gtest_processor_imu.cpp @@ -5,10 +5,10 @@ * \author: jsola */ -#include "IMU/capture/capture_IMU.h" -#include "IMU/processor/processor_IMU.h" -#include "IMU/sensor/sensor_IMU.h" -#include "IMU/internal/config.h" +#include "imu/capture/capture_imu.h" +#include "imu/processor/processor_imu.h" +#include "imu/sensor/sensor_imu.h" +#include "imu/internal/config.h" #include "core/common/wolf.h" diff --git a/test/gtest_processor_IMU_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp similarity index 99% rename from test/gtest_processor_IMU_jacobians.cpp rename to test/gtest_processor_imu_jacobians.cpp index 19a7b783fbb6bc99ca5710ccb52253a02185d335..66fb7ae9f802477522622439e657ba7e549833bd 100644 --- a/test/gtest_processor_IMU_jacobians.cpp +++ b/test/gtest_processor_imu_jacobians.cpp @@ -6,9 +6,9 @@ */ //Wolf -#include "IMU/capture/capture_IMU.h" -#include "IMU/sensor/sensor_IMU.h" -#include "processor_IMU_UnitTester.h" +#include "imu/capture/capture_imu.h" +#include "imu/sensor/sensor_imu.h" +#include "processor_imu_UnitTester.h" #include "core/common/wolf.h" #include "core/problem/problem.h" #include "core/state_block/state_block.h" diff --git a/test/processor_IMU_UnitTester.cpp b/test/processor_imu_UnitTester.cpp similarity index 86% rename from test/processor_IMU_UnitTester.cpp rename to test/processor_imu_UnitTester.cpp index aa4f46db66546395e9b4d07920407e2c0b52a597..46881c51161d93cf31ad5907ce3b427438bc7c36 100644 --- a/test/processor_IMU_UnitTester.cpp +++ b/test/processor_imu_UnitTester.cpp @@ -1,4 +1,4 @@ -#include "processor_IMU_UnitTester.h" +#include "processor_imu_UnitTester.h" namespace wolf { diff --git a/test/processor_IMU_UnitTester.h b/test/processor_imu_UnitTester.h similarity index 99% rename from test/processor_IMU_UnitTester.h rename to test/processor_imu_UnitTester.h index ccfc60fd4579b33786990d1ca2c888920c12a15a..fb4de710d0b49e14012b5cdca61af01df5dcd9c2 100644 --- a/test/processor_IMU_UnitTester.h +++ b/test/processor_imu_UnitTester.h @@ -3,7 +3,7 @@ #define PROCESSOR_IMU_UNITTESTER_H // Wolf -#include "IMU/processor/processor_IMU.h" +#include "imu/processor/processor_imu.h" #include "core/processor/processor_motion.h" namespace wolf {