From 257448bf794ea1c23624994362ae413b8f550c9d Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Mon, 22 Jul 2019 09:56:11 +0200
Subject: [PATCH] ParamsServer rename fix
---
include/laser/processor/processor_closeloop_icp.h | 4 ++--
include/laser/processor/processor_odom_icp.h | 4 ++--
.../processor/processor_tracker_feature_polyline_2D.h | 8 +++++++-
include/laser/sensor/sensor_laser_2D.h | 2 +-
src/processor/processor_closeloop_icp.cpp | 2 +-
src/processor/processor_odom_icp.cpp | 2 +-
.../processor_tracker_feature_polyline_2D.cpp | 10 ++++++++++
src/sensor/sensor_laser_2D.cpp | 2 +-
8 files changed, 25 insertions(+), 9 deletions(-)
diff --git a/include/laser/processor/processor_closeloop_icp.h b/include/laser/processor/processor_closeloop_icp.h
index b0a829d72..e06f241b8 100644
--- a/include/laser/processor/processor_closeloop_icp.h
+++ b/include/laser/processor/processor_closeloop_icp.h
@@ -21,7 +21,7 @@ struct ProcessorParamsCloseLoopICP : public ProcessorParamsBase
{
int match_past_key_frame;
ProcessorParamsCloseLoopICP() = default;
- ProcessorParamsCloseLoopICP(std::string _unique_name, const paramsServer& _server):
+ ProcessorParamsCloseLoopICP(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsBase(_unique_name, _server)
{
match_past_key_frame = _server.getParam<int>(_unique_name + "/match_past_key_frame");
@@ -47,7 +47,7 @@ class ProcessorCloseLoopICP : public ProcessorBase
virtual bool voteForKeyFrame() override;
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr);
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr);
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 56da0c091..a17429b09 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/include/laser/processor/processor_odom_icp.h
@@ -34,7 +34,7 @@ struct ProcessorParamsOdomICP : public ProcessorParamsTracker
int vfk_max_points;
ProcessorParamsOdomICP() = default;
- ProcessorParamsOdomICP(std::string _unique_name, const paramsServer &_server):
+ ProcessorParamsOdomICP(std::string _unique_name, const ParamsServer &_server):
ProcessorParamsTracker(_unique_name, _server)
{
use_point_to_line_distance = _server.getParam<int>(_unique_name + "/use_point_to_line_distance");
@@ -110,7 +110,7 @@ class ProcessorOdomICP : public ProcessorTracker
virtual void configure(SensorBasePtr _sensor) override;
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr);
diff --git a/include/laser/processor/processor_tracker_feature_polyline_2D.h b/include/laser/processor/processor_tracker_feature_polyline_2D.h
index 9d4b448a4..e94731ea7 100644
--- a/include/laser/processor/processor_tracker_feature_polyline_2D.h
+++ b/include/laser/processor/processor_tracker_feature_polyline_2D.h
@@ -9,7 +9,6 @@
#define PROCESSOR_TRACKER_FEATURE_POLYLINE_2D_H_
#include "laser/processor/polyline_2D_utils.h"
-#include "core/processor/processor_tracker_feature.h"
#include "laser/landmark/landmark_polyline_2D.h"
#include "laser/landmark/landmark_match_polyline_2D.h"
#include "laser/sensor/sensor_laser_2D.h"
@@ -19,6 +18,9 @@
#include "laser/factor/factor_point_2D.h"
#include "laser/factor/factor_point_to_line_2D.h"
+#include "core/processor/processor_tracker_feature.h"
+#include "core/utils/params_server.hpp"
+
//laser_scan_utils
#include "laser_scan_utils/laser_scan.h"
#include "laser_scan_utils/line_finder_iterative.h"
@@ -234,6 +236,10 @@ class ProcessorTrackerFeaturePolyline2D : public ProcessorTrackerFeature
const ProcessorParamsBasePtr _params,
const SensorBasePtr _sensor_ptr);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr);
+
const FeatureBasePtrList& getLastNewFeatures() const
{
return untracked_features_last_;
diff --git a/include/laser/sensor/sensor_laser_2D.h b/include/laser/sensor/sensor_laser_2D.h
index 64caa44e3..200f00bad 100644
--- a/include/laser/sensor/sensor_laser_2D.h
+++ b/include/laser/sensor/sensor_laser_2D.h
@@ -77,7 +77,7 @@ class SensorLaser2D : public SensorBase
public:
static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXs& _extrinsics_po, const IntrinsicsBasePtr _intrinsics);
- static SensorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server);
+ static SensorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
static IntrinsicsBasePtr createParams(const std::string& _filename_dot_yaml);
};
diff --git a/src/processor/processor_closeloop_icp.cpp b/src/processor/processor_closeloop_icp.cpp
index c2815122e..d4f410071 100644
--- a/src/processor/processor_closeloop_icp.cpp
+++ b/src/processor/processor_closeloop_icp.cpp
@@ -56,7 +56,7 @@ ProcessorBasePtr ProcessorCloseLoopICP::create(const std::string& _unique_name,
return prc_ptr;
}
-ProcessorBasePtr ProcessorCloseLoopICP::createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorCloseLoopICP::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
{
ProcessorCloseLoopICPPtr prc_ptr;
auto params = std::make_shared<ProcessorParamsCloseLoopICP>();
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index e96debd03..4bbf3903b 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/src/processor/processor_odom_icp.cpp
@@ -188,7 +188,7 @@ ProcessorBasePtr ProcessorOdomICP::create(const std::string& _unique_name, const
return prc_ptr;
}
-ProcessorBasePtr ProcessorOdomICP::createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorOdomICP::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
{
ProcessorOdomICPPtr prc_ptr;
diff --git a/src/processor/processor_tracker_feature_polyline_2D.cpp b/src/processor/processor_tracker_feature_polyline_2D.cpp
index ed3a2af96..9c877522e 100644
--- a/src/processor/processor_tracker_feature_polyline_2D.cpp
+++ b/src/processor/processor_tracker_feature_polyline_2D.cpp
@@ -1299,6 +1299,12 @@ ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _u
return prc_ptr;
}
+ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::createAutoConf(const std::string& _unique_name,
+ const ParamsServer& _server,
+ const SensorBasePtr _sensor_ptr)
+{
+ return nullptr;
+}
} /* namespace wolf */
// Register in the SensorFactory
@@ -1306,3 +1312,7 @@ ProcessorBasePtr ProcessorTrackerFeaturePolyline2D::create(const std::string& _u
namespace wolf {
WOLF_REGISTER_PROCESSOR("TRACKER FEATURE POLYLINE", ProcessorTrackerFeaturePolyline2D)
} /* namespace wolf */
+#include "core/processor/autoconf_processor_factory.h"
+namespace wolf {
+ WOLF_REGISTER_PROCESSOR_AUTO("TRACKER FEATURE POLYLINE", ProcessorTrackerFeaturePolyline2D)
+} // namespace wolf
\ No newline at end of file
diff --git a/src/sensor/sensor_laser_2D.cpp b/src/sensor/sensor_laser_2D.cpp
index f1ddf33ab..ce551eb2d 100644
--- a/src/sensor/sensor_laser_2D.cpp
+++ b/src/sensor/sensor_laser_2D.cpp
@@ -79,7 +79,7 @@ SensorBasePtr SensorLaser2D::create(const std::string& _unique_name, const Eigen
return sen;
}
-SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, const paramsServer& _server)
+SensorBasePtr SensorLaser2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
{
// decode extrinsics vector
Eigen::VectorXs _extrinsics_po = _server.getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pos", "[0,0,0]");
--
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