From fc7388e281085d7c673c6898fad4ed040e68ee7d Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 26 Mar 2020 10:20:17 +0100
Subject: [PATCH] Rename IMU -> imu
---
CMakeLists.txt | 36 ++++-----
cmake_modules/wolfIMUConfig.cmake | 79 -------------------
cmake_modules/wolfimuConfig.cmake | 79 +++++++++++++++++++
demos/demo_factor_imu.cpp | 6 +-
demos/demo_imuDock.cpp | 4 +-
demos/demo_imuDock_autoKFs.cpp | 4 +-
demos/demo_imuPlateform_Offline.cpp | 6 +-
demos/demo_imu_constrained0.cpp | 6 +-
demos/demo_processor_imu.cpp | 6 +-
demos/demo_processor_imu_jacobians.cpp | 6 +-
.../capture/capture_imu.h} | 2 +-
include/{IMU => imu}/factor/factor_fix_bias.h | 4 +-
.../factor_IMU.h => imu/factor/factor_imu.h} | 4 +-
.../feature/feature_imu.h} | 2 +-
.../math/IMU_tools.h => imu/math/imu_tools.h} | 0
.../processor/processor_imu.h} | 4 +-
.../sensor_IMU.h => imu/sensor/sensor_imu.h} | 0
.../{capture_IMU.cpp => capture_imu.cpp} | 4 +-
.../{feature_IMU.cpp => feature_imu.cpp} | 2 +-
.../{processor_IMU.cpp => processor_imu.cpp} | 9 ++-
src/sensor/{sensor_IMU.cpp => sensor_imu.cpp} | 2 +-
...or_IMU_yaml.cpp => processor_imu_yaml.cpp} | 2 +-
...ensor_IMU_yaml.cpp => sensor_imu_yaml.cpp} | 2 +-
test/CMakeLists.txt | 24 +++---
...st_factor_IMU.cpp => gtest_factor_imu.cpp} | 6 +-
..._feature_IMU.cpp => gtest_feature_imu.cpp} | 6 +-
test/{gtest_IMU.cpp => gtest_imu.cpp} | 6 +-
...test_IMU_tools.cpp => gtest_imu_tools.cpp} | 2 +-
...cessor_IMU.cpp => gtest_processor_imu.cpp} | 8 +-
....cpp => gtest_processor_imu_jacobians.cpp} | 6 +-
...ester.cpp => processor_imu_UnitTester.cpp} | 2 +-
...nitTester.h => processor_imu_UnitTester.h} | 2 +-
32 files changed, 166 insertions(+), 165 deletions(-)
delete mode 100644 cmake_modules/wolfIMUConfig.cmake
create mode 100644 cmake_modules/wolfimuConfig.cmake
rename include/{IMU/capture/capture_IMU.h => imu/capture/capture_imu.h} (97%)
rename include/{IMU => imu}/factor/factor_fix_bias.h (97%)
rename include/{IMU/factor/factor_IMU.h => imu/factor/factor_imu.h} (99%)
rename include/{IMU/feature/feature_IMU.h => imu/feature/feature_imu.h} (98%)
rename include/{IMU/math/IMU_tools.h => imu/math/imu_tools.h} (100%)
rename include/{IMU/processor/processor_IMU.h => imu/processor/processor_imu.h} (98%)
rename include/{IMU/sensor/sensor_IMU.h => imu/sensor/sensor_imu.h} (100%)
rename src/capture/{capture_IMU.cpp => capture_imu.cpp} (93%)
rename src/feature/{feature_IMU.cpp => feature_imu.cpp} (96%)
rename src/processor/{processor_IMU.cpp => processor_imu.cpp} (96%)
rename src/sensor/{sensor_IMU.cpp => sensor_imu.cpp} (97%)
rename src/yaml/{processor_IMU_yaml.cpp => processor_imu_yaml.cpp} (97%)
rename src/yaml/{sensor_IMU_yaml.cpp => sensor_imu_yaml.cpp} (97%)
rename test/{gtest_factor_IMU.cpp => gtest_factor_imu.cpp} (99%)
rename test/{gtest_feature_IMU.cpp => gtest_feature_imu.cpp} (98%)
rename test/{gtest_IMU.cpp => gtest_imu.cpp} (99%)
rename test/{gtest_IMU_tools.cpp => gtest_imu_tools.cpp} (99%)
rename test/{gtest_processor_IMU.cpp => gtest_processor_imu.cpp} (99%)
rename test/{gtest_processor_IMU_jacobians.cpp => gtest_processor_imu_jacobians.cpp} (99%)
rename test/{processor_IMU_UnitTester.cpp => processor_imu_UnitTester.cpp} (86%)
rename test/{processor_IMU_UnitTester.h => processor_imu_UnitTester.h} (99%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 67ef6f0b0..4c6e49d2f 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 fbf1da76c..000000000
--- 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 000000000..a671544bc
--- /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 f99b44448..0a09c665e 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 6c3d190af..73f693e49 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 c22345556..cfd482b6f 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 0b98b3e96..a118fdedc 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 cff689aaf..e4fa5097f 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 e6062abbc..1a316f6f1 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 3555fa9c8..0fb08c404 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 c5c3174f9..ef150f8b9 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 13150f83d..9292e9237 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 60c94a928..63df03507 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 6497213dc..3f45dd14a 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 92aa170a8..0cb273446 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 dfdc45a93..08e7dbc3c 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 cf1773d64..405c1403b 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 4a72c446c..48e737fd7 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 cb42c0981..cff4178c9 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 681f72434..d4756a4dd 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 89d7c382f..575ec7005 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 266bdfb1e..35a9d415d 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 2c70a6321..b734f7665 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 ba537cc56..41a5599ec 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 52aff0fcd..48fb83e9f 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 16730096e..da88317f0 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 1f059b193..49e4cfd46 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 19a7b783f..66fb7ae9f 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 aa4f46db6..46881c511 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 ccfc60fd4..fb4de710d 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 {
--
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