Resolve "Follow core 422"

Closes #22 (closed)

demos/demo_factor_imu.cpp

@@ -67,7 +67,7 @@ int main(int argc, char** argv)
     // Set the origin
     Eigen::VectorXd x0(16);
     x0 << 0,0,0,  0,0,0,1,  0,0,0,  0,0,.001,  0,0,.002; // Try some non-zero biases
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(x0, t); //this also creates a keyframe at origin
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(x0, t); //this also creates a keyframe at origin
     wolf_problem_ptr_->getTrajectory()->getFrameList().front()->fix(); //fix the keyframe at origin
 
     TimeStamp ts(0);
@@ -99,14 +99,14 @@ int main(int argc, char** argv)
     /// ******************************************************************************************** ///
     /// factor creation
     //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -135,7 +135,7 @@ int main(int argc, char** argv)
     std::cout << "residuals : " << residu.transpose() << std::endl;
 
     //reset origin of motion to new frame
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(last_frame);
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(last_frame);
     imu_ptr->setFrame(last_frame);
     }
     /// ******************************************************************************************** ///
@@ -160,14 +160,14 @@ int main(int argc, char** argv)
     /// ******************************************************************************************** ///
     /// factor creation
     //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -196,7 +196,7 @@ int main(int argc, char** argv)
     std::cout << "residuals : " << residu.transpose() << std::endl;
 
     //reset origin of motion to new frame
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(last_frame);
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(last_frame);
     imu_ptr->setFrame(last_frame);
     }
 
@@ -218,14 +218,14 @@ int main(int argc, char** argv)
 
     //create the factor
         //create FrameIMU
-    ts = wolf_problem_ptr_->getProcessorIsMotion()->getBuffer().back().ts_;
-    state_vec = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentState();
+    ts = wolf_problem_ptr_->getMotionProvider()->getBuffer().back().ts_;
+    state_vec = wolf_problem_ptr_->getMotionProvider()->getCurrentState();
     FrameIMUPtr last_frame = std::make_shared<FrameIMU>(KEY, ts, state_vec);
     wolf_problem_ptr_->getTrajectory()->addFrame(last_frame);
 
         //create a feature
-    delta_preint_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
-    delta_preint = wolf_problem_ptr_->getProcessorIsMotion()->getMotion().delta_integr_;
+    delta_preint_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
+    delta_preint = wolf_problem_ptr_->getMotionProvider()->getMotion().delta_integr_;
     std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
     feat_imu->setCapture(imu_ptr);
 
@@ -260,13 +260,13 @@ int main(int argc, char** argv)
     ///having a look at covariances
     Eigen::MatrixXd predelta_cov;
     predelta_cov.resize(9,9);
-    predelta_cov = wolf_problem_ptr_->getProcessorIsMotion()->getCurrentDeltaPreintCov();
+    predelta_cov = wolf_problem_ptr_->getMotionProvider()->getCurrentDeltaPreintCov();
     //std::cout << "predelta_cov : \n" << predelta_cov << std::endl; 
 
         ///Optimization
     // PRIOR
     //FrameBasePtr first_frame = wolf_problem_ptr_->getTrajectory()->getFrameList().front();
-    wolf_problem_ptr_->getProcessorIsMotion()->setOrigin(wolf_problem_ptr_->getTrajectory()->getFrameList().front());
+    wolf_problem_ptr_->getMotionProvider()->setOrigin(wolf_problem_ptr_->getTrajectory()->getFrameList().front());
     //SensorBasePtr sensorbase = std::make_shared<SensorBase>("ABSOLUTE POSE", nullptr, nullptr, nullptr, 0);
     //CapturePosePtr initial_covariance = std::make_shared<CaptureFix>(TimeStamp(0), sensorbase, first_frame->getState().head(7), Eigen::Matrix6d::Identity() * 0.01);
     //first_frame->addCapture(initial_covariance);