From 182cfcb5e0884ceac357e359c4f371647ea070de Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 6 Aug 2022 00:05:59 +0200
Subject: [PATCH] Rename vote_elapsed_time -> max_time_span

---
 include/laser/processor/processor_odom_icp_3d.h | 4 ++--
 src/processor/processor_odom_icp_3d.cpp         | 2 +-
 test/yaml/problem_odom_icp_3d.yaml              | 3 ++-
 3 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/include/laser/processor/processor_odom_icp_3d.h b/include/laser/processor/processor_odom_icp_3d.h
index eaeed813b..bf4ac8640 100644
--- a/include/laser/processor/processor_odom_icp_3d.h
+++ b/include/laser/processor/processor_odom_icp_3d.h
@@ -50,7 +50,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo
 {
     bool pcl_downsample;
 
-    double vote_elapsed_time;
+    double max_time_span;
 
     int    icp_max_iterations;
     double icp_transformation_translation_epsilon;  // squared value of translation epsilon
@@ -65,7 +65,7 @@ struct ParamsProcessorOdomIcp3d : public ParamsProcessorTracker, public ParamsMo
     {
         pcl_downsample = _server.getParam<bool>(prefix + _unique_name + "/pcl_downsample");
 
-        vote_elapsed_time = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/vote_elapsed_time");
+        max_time_span = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/max_time_span");
 
         icp_max_iterations = _server.getParam<int>(prefix + _unique_name + "/icp_max_iterations");
         icp_transformation_translation_epsilon =
diff --git a/src/processor/processor_odom_icp_3d.cpp b/src/processor/processor_odom_icp_3d.cpp
index e208e3e27..7624be9d7 100644
--- a/src/processor/processor_odom_icp_3d.cpp
+++ b/src/processor/processor_odom_icp_3d.cpp
@@ -124,7 +124,7 @@ unsigned int ProcessorOdomIcp3d::processNew(const int& _max_features)
  */
 bool ProcessorOdomIcp3d::voteForKeyFrame() const
 {
-    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->vote_elapsed_time)
+    if (incoming_laser_->getTimeStamp() - origin_laser_->getTimeStamp() > params_odom_icp_->max_time_span)
     {
         return true;
     }
diff --git a/test/yaml/problem_odom_icp_3d.yaml b/test/yaml/problem_odom_icp_3d.yaml
index 22b5c0196..f21e65fb1 100644
--- a/test/yaml/problem_odom_icp_3d.yaml
+++ b/test/yaml/problem_odom_icp_3d.yaml
@@ -34,7 +34,8 @@ config:
     keyframe_vote:
       voting_active: true
       min_features_for_keyframe : 0
-      vote_elapsed_time: 0.99
+      max_time_span: 0.99
+      angle_turned: 1.0
     max_new_features: 0
     apply_loss_function: false
     state_getter: true
-- 
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