Merge branch '18-follow-core-422' into 'devel'

Resolve "Follow core 422"

Closes #18

See merge request !26

include/laser/processor/processor_odom_icp.h

@@ -42,7 +42,7 @@ namespace wolf {
 WOLF_PTR_TYPEDEFS(ProcessorOdomIcp);
 WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorOdomIcp);
 
-struct ParamsProcessorOdomIcp : public ParamsProcessorTracker, public ParamsIsMotion
+struct ParamsProcessorOdomIcp : public ParamsProcessorTracker, public ParamsMotionProvider
 {
     // ICP Params
     laserscanutils::icpParams icp_params;
@@ -60,7 +60,7 @@ struct ParamsProcessorOdomIcp : public ParamsProcessorTracker, public ParamsIsMo
     ParamsProcessorOdomIcp() = default;
     ParamsProcessorOdomIcp(std::string _unique_name, const ParamsServer &_server):
         ParamsProcessorTracker(_unique_name, _server),
-        ParamsIsMotion(_unique_name, _server)
+        ParamsMotionProvider(_unique_name, _server)
     {
         // keyframe voting
         vfk_min_dist               = _server.getParam<double> (prefix + _unique_name  + "/keyframe_vote/min_dist");
@@ -127,7 +127,7 @@ struct ParamsProcessorOdomIcp : public ParamsProcessorTracker, public ParamsIsMo
     }
 };
 
-class ProcessorOdomIcp : public ProcessorTracker, public IsMotion
+class ProcessorOdomIcp : public ProcessorTracker, public MotionProvider
 {
     protected:
         // Useful sensor stuff

src/processor/processor_odom_icp.cpp

@@ -29,7 +29,7 @@ namespace wolf
 
 ProcessorOdomIcp::ProcessorOdomIcp(ParamsProcessorOdomIcpPtr _params):
                     ProcessorTracker("ProcessorOdomIcp", "PO", 2, _params),
-                    IsMotion("PO", _params),
+                    MotionProvider("PO", _params),
                     odom_origin_(Eigen::Vector3d::Zero()),
                     odom_last_(Eigen::Vector3d::Zero()),
                     odom_incoming_(Eigen::Vector3d::Zero()),
@@ -372,7 +372,7 @@ VectorComposite ProcessorOdomIcp::getState(const TimeStamp& _ts, const StateStru
 void ProcessorOdomIcp::setProblem(ProblemPtr _problem_ptr)
 {
     NodeBase::setProblem(_problem_ptr);
-    addToProblem(_problem_ptr, std::dynamic_pointer_cast<IsMotion>(shared_from_this()));
+    addToProblem(_problem_ptr, std::dynamic_pointer_cast<MotionProvider>(shared_from_this()));
 }
 
 } // namespace wolf