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mobile_robotics
wolf_projects
wolf_lib
plugins
laser
Commits
83f626df
Commit
83f626df
authored
6 years ago
by
Joaquim Casals Buñuel
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Minor fixes
parent
b26e5d91
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2 merge requests
!30
Release after RAL
,
!29
After 2nd RAL submission
Changes
3
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3 changed files
CMakeLists.txt
+42
-92
42 additions, 92 deletions
CMakeLists.txt
cmake_modules/wolfConfig.cmake
+0
-1
0 additions, 1 deletion
cmake_modules/wolfConfig.cmake
include/base/yaml/parser_yaml.hpp
+22
-0
22 additions, 0 deletions
include/base/yaml/parser_yaml.hpp
with
64 additions
and
93 deletions
CMakeLists.txt
+
42
−
92
View file @
83f626df
...
...
@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND)
#HEADERS
SET
(
HDRS_BASE
include/base/IMU_tools.h
include/base/SE3.h
include/base/converter.h
include/base/diff_drive_tools.h
include/base/diff_drive_tools.hpp
...
...
@@ -262,7 +264,7 @@ SET(HDRS_BASE
include/base/factory.h
include/base/frame_base.h
include/base/hardware_base.h
include/base/
IMU_tools.h
include/base/
loader.hpp
include/base/local_parametrization_angle.h
include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h
...
...
@@ -282,65 +284,41 @@ SET(HDRS_BASE
include/base/state_block.h
include/base/state_homogeneous_3D.h
include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h
include/base/track_matrix.h
include/base/trajectory_base.h
include/base/wolf.h
include/base/IMU_tools.h
include/base/local_parametrization_polyline_extreme.h
include/base/loader.hpp
)
SET
(
HDRS_CAPTURE
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
include/base/capture/capture_void.h
include/base/capture/capture_motion.h
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_odom_2D.h
include/base/capture/capture_odom_3D.h
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_odom_2D.h
include/base/capture/capture_odom_3D.h
include/base/capture/capture_pose.h
include/base/capture/capture_velocity.h
include/base/capture/capture_void.h
include/base/capture/capture_wheel_joint_position.h
)
SET
(
HDRS_CONSTRAINT
include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_container.h
include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_AHP.h
include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_fix_bias.h
include/base/constraint/constraint_GPS_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_odom_2D.h
include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_odom_3D.h
include/base/constraint/constraint_point_2D.h
include/base/constraint/constraint_point_to_line_2D.h
include/base/constraint/constraint_pose_2D.h
include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_relative_2D_analytic.h
include/base/constraint/constraint_autodiff_trifocal.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_autodiff_distance_3D.h
include/base/constraint/constraint_AHP.h
include/base/constraint/constraint_autodiff_trifocal.h
include/base/constraint/constraint_base.h
include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_container.h
include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_diff_drive.h
include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_fix_bias.h
include/base/constraint/constraint_GPS_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_odom_2D.h
include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_odom_3D.h
...
...
@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT
include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_relative_2D_analytic.h
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_base.h
)
SET
(
HDRS_FEATURE
include/base/feature/feature_corner_2D.h
include/base/feature/feature_GPS_fix.h
include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_IMU.h
include/base/feature/feature_odom_2D.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_base.h
include/base/feature/feature_corner_2D.h
include/base/feature/feature_diff_drive.h
include/base/feature/feature_GPS_fix.h
include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_IMU.h
include/base/feature/feature_match.h
include/base/feature/feature_odom_2D.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_base.h
include/base/feature/feature_match.h
include/base/feature/feature_pose.h
)
SET
(
HDRS_LANDMARK
include/base/landmark/landmark_base.h
include/base/landmark/landmark_match.h
include/base/landmark/landmark_corner_2D.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_polyline_2D.h
include/base/landmark/landmark_corner_2D.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_match.h
include/base/landmark/landmark_polyline_2D.h
)
SET
(
HDRS_PROCESSOR
include/base/processor/new_processor_factory.h
include/base/processor/processor_IMU.h
include/base/processor/processor_base.h
include/base/processor/processor_capture_holder.h
include/base/processor/processor_diff_drive.h
include/base/processor/processor_factory.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark.h
include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_factory.h
include/base/processor/new_processor_factory.h
include/base/processor/processor_logging.h
include/base/processor/processor_base.h
include/base/processor/processor_factory.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
)
SET
(
HDRS_SENSOR
include/base/sensor/sensor_base.h
include/base/sensor/sensor_camera.h
include/base/sensor/sensor_diff_drive.h
include/base/sensor/new_sensor_factory.h
include/base/sensor/sensor_GPS.h
include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_base.h
include/base/sensor/sensor_camera.h
include/base/sensor/sensor_GPS.h
include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_diff_drive.h
include/base/sensor/sensor_factory.h
include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_factory.h
include/base/sensor/new_sensor_factory.h
)
SET
(
HDRS_SOLVER
include/base/solver/solver_manager.h
...
...
@@ -442,6 +394,7 @@ SET(HDRS_DTASSC
)
SET
(
HDRS_CORE
include/base/SE3.h
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
...
...
@@ -449,7 +402,6 @@ SET(HDRS_CORE
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_base.h
include/base/processor/processor_factory.h
include/base/feature/feature_base.h
include/base/feature/feature_match.h
include/base/feature/feature_pose.h
...
...
@@ -460,26 +412,24 @@ SET(HDRS_CORE
include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_quaternion.h
include/base/processor/processor_logging.h
include/base/map_base.h
include/base/motion_buffer.h
include/base/node_base.h
include/base/problem.h
include/base/processor/processor_base.h
include/base/processor/processor_factory.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/rotations.h
include/base/sensor/sensor_base.h
include/base/processor/processor_factory.h
include/base/singleton.h
include/base/state_angle.h
include/base/state_block.h
include/base/state_homogeneous_3D.h
include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h
include/base/track_matrix.h
include/base/trajectory_base.h
...
...
@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE
src/capture/capture_wheel_joint_position.cpp
)
SET
(
SRCS_FEATURE
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_GPS_fix.cpp
src/feature/feature_GPS_pseudorange.cpp
src/feature/feature_IMU.cpp
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_odom_2D.cpp
src/feature/feature_polyline_2D.cpp
)
...
...
@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK
src/landmark/landmark_polyline_2D.cpp
)
SET
(
SRCS_PROCESSOR
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_IMU.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_odom_2D.cpp
src/processor/processor_odom_3D.cpp
src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_feature_dummy.cpp
src/processor/processor_tracker_landmark_dummy.cpp
src/processor/processor_tracker_landmark.cpp
src/processor/processor_tracker_landmark_dummy.cpp
)
SET
(
SRCS_SENSOR
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_GPS.cpp
src/sensor/sensor_GPS_fix.cpp
src/sensor/sensor_IMU.cpp
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_odom_2D.cpp
src/sensor/sensor_odom_3D.cpp
)
...
...
@@ -583,13 +533,13 @@ SET(SRCS_SOLVER
#optional HDRS and SRCS
IF
(
Ceres_FOUND
)
SET
(
HDRS_WRAPPER
include/base/solver_suitesparse/sparse_utils.h
include/base/solver/solver_manager.h
include/base/ceres_wrapper/ceres_manager.h
#ceres_wrapper/qr_manager.h
include/base/ceres_wrapper/ceres_manager.h
include/base/ceres_wrapper/cost_function_wrapper.h
include/base/ceres_wrapper/create_numeric_diff_cost_function.h
include/base/ceres_wrapper/local_parametrization_wrapper.h
include/base/solver/solver_manager.h
include/base/solver_suitesparse/sparse_utils.h
)
SET
(
SRCS_WRAPPER
src/solver/solver_manager.cpp
...
...
This diff is collapsed.
Click to expand it.
cmake_modules/wolfConfig.cmake
+
0
−
1
View file @
83f626df
...
...
@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# match and reject with an explanation below.
find_package
(
Eigen3
${
wolf_EIGEN_VERSION
}
QUIET
)
message
(
"FOUND EIGEN? "
${
EIGEN3_FOUND
}
)
# Flag set with currently found Eigen version.
set
(
EIGEN_VERSION @EIGEN_VERSION@
)
if
(
EIGEN3_FOUND
)
...
...
This diff is collapsed.
Click to expand it.
include/base/yaml/parser_yaml.hpp
+
22
−
0
View file @
83f626df
...
...
@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
//otherwise the parser recursively parses the map
regex
r
(
"^
\\
$.*"
);
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
r
)){
/*
If key=="follow" then the parser will assume that the value is a path and will parse
the (expected) yaml file at the specified path. Note that this does not increase the header depth
The following example shows how the header remains unafected:
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- follow: "some_path" |
- var: 1.2 |
Resulting map:
cov_det -> 1
my_value-> 23
var: 1.2
Instead of:
cov_det -> 1
follow/my_value-> 23
var: 1.2
Which would result from the following yaml files
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- $follow: "some_path" |
- var: 1.2 |
*/
regex
rr
(
"follow"
);
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
rr
))
{
tags
.
push_back
(
kv
.
first
.
as
<
string
>
());
...
...
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