From 3633a2ff2787813fa9fa39f16e2b7fbd5ec985ef Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 30 Nov 2021 22:28:06 +0100
Subject: [PATCH] follow core 422
---
include/laser/processor/processor_odom_icp.h | 6 +++---
src/processor/processor_odom_icp.cpp | 4 ++--
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/include/laser/processor/processor_odom_icp.h b/include/laser/processor/processor_odom_icp.h
index 2e82eafc8..12051e701 100644
--- a/include/laser/processor/processor_odom_icp.h
+++ b/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
diff --git a/src/processor/processor_odom_icp.cpp b/src/processor/processor_odom_icp.cpp
index bd5808fce..50872148f 100644
--- a/src/processor/processor_odom_icp.cpp
+++ b/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
--
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