From 0e3101e0f36e1d865521a43e1c72570019724a39 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 7 Aug 2019 22:38:52 +0200
Subject: [PATCH] Add standard API constructor
---
include/laser/sensor/sensor_laser_2D.h | 3 ++-
src/sensor/sensor_laser_2D.cpp | 16 ++++++++++++++--
2 files changed, 16 insertions(+), 3 deletions(-)
diff --git a/include/laser/sensor/sensor_laser_2D.h b/include/laser/sensor/sensor_laser_2D.h
index 0d52eb63a..6ea4595f2 100644
--- a/include/laser/sensor/sensor_laser_2D.h
+++ b/include/laser/sensor/sensor_laser_2D.h
@@ -82,7 +82,8 @@ class SensorLaser2D : public SensorBase
**/
SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const laserscanutils::LaserScanParams& _params);
SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2D& _params);
- SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, IntrinsicsLaser2DPtr _params);
+ SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2DPtr _params);
+ SensorLaser2D(const Eigen::VectorXs& _extrinsics, const IntrinsicsLaser2DPtr _params);
virtual ~SensorLaser2D();
diff --git a/src/sensor/sensor_laser_2D.cpp b/src/sensor/sensor_laser_2D.cpp
index 05b55a7e2..9c2918c68 100644
--- a/src/sensor/sensor_laser_2D.cpp
+++ b/src/sensor/sensor_laser_2D.cpp
@@ -30,8 +30,20 @@ SensorLaser2D::SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const I
//
}
-SensorLaser2D::SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, IntrinsicsLaser2DPtr _params) :
- SensorLaser2D(_p_ptr, _o_ptr, *_params)
+SensorLaser2D::SensorLaser2D(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, const IntrinsicsLaser2DPtr _params) :
+ SensorBase("LASER 2D", _p_ptr, _o_ptr, nullptr, 8),
+ scan_params_(_params->scan_params)
+{
+ //
+}
+
+SensorLaser2D::SensorLaser2D(const Eigen::VectorXs& _extrinsics, const IntrinsicsLaser2DPtr _params) :
+ SensorBase("LASER 2D",
+ std::make_shared<StateBlock>(_extrinsics.head(2), false),
+ std::make_shared<StateAngle>(_extrinsics(2), false),
+ nullptr,
+ 8),
+ scan_params_(_params->scan_params)
{
//
}
--
GitLab