From 30784c6f66e2a075cdf615cb008b90fe692308d0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 24 Jun 2022 19:51:31 +0200
Subject: [PATCH 1/2] Use derived state blocks

---
 src/landmark/landmark_point_3d.cpp | 6 +++---
 src/sensor/sensor_camera.cpp       | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/landmark/landmark_point_3d.cpp b/src/landmark/landmark_point_3d.cpp
index 326dee0f..2ad4ed4b 100644
--- a/src/landmark/landmark_point_3d.cpp
+++ b/src/landmark/landmark_point_3d.cpp
@@ -20,15 +20,15 @@
 //
 //--------LICENSE_END--------
 #include "vision/landmark/landmark_point_3d.h"
+#include <core/state_block/state_block_derived.h>
 
 namespace wolf {
 
 LandmarkPoint3d::LandmarkPoint3d(Eigen::Vector3d _position, cv::Mat _2d_descriptor) :
-    LandmarkBase("LandmarkPoint3d", std::make_shared<StateBlock>(_position, false)),
+    LandmarkBase("LandmarkPoint3d", std::make_shared<StatePoint3d>(_position, false)),
     descriptor_(_2d_descriptor)
 {
-    //LandmarkPoint3d* landmark_ptr = (LandmarkPoint3d*)_p_ptr;
-//    position_ =
+    getStateBlock('P')->setTransformable();
 //    descriptor_ = _2d_descriptor;
 }
 
diff --git a/src/sensor/sensor_camera.cpp b/src/sensor/sensor_camera.cpp
index 311e2212..b3dd3ac5 100644
--- a/src/sensor/sensor_camera.cpp
+++ b/src/sensor/sensor_camera.cpp
@@ -23,7 +23,7 @@
 #include "vision/sensor/sensor_camera.h"
 #include "vision/math/pinhole_tools.h"
 
-#include "core/state_block/state_block.h"
+#include "core/state_block/state_block_derived.h"
 #include "core/state_block/state_quaternion.h"
 
 namespace wolf
@@ -31,9 +31,9 @@ namespace wolf
 
 SensorCamera::SensorCamera(const Eigen::VectorXd& _extrinsics, const ParamsSensorCamera& _intrinsics) :
                 SensorBase("SensorCamera", 
-                           std::make_shared<StateBlock>(_extrinsics.head(3), true), 
+                           std::make_shared<StatePoint3d>(_extrinsics.head(3), true), 
                            std::make_shared<StateQuaternion>(_extrinsics.tail(4), true), 
-                           std::make_shared<StateBlock>(_intrinsics.pinhole_model_raw, true), 
+                           std::make_shared<StateParams4>(_intrinsics.pinhole_model_raw, true), 
                            1),
                 img_width_(_intrinsics.width), //
                 img_height_(_intrinsics.height), //
-- 
GitLab


From 411c747320e9063392da05b92280882d240d9537 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 24 Jun 2022 19:52:20 +0200
Subject: [PATCH 2/2] gitignore

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 54fdf5c8..4467cd99 100644
--- a/.gitignore
+++ b/.gitignore
@@ -33,3 +33,4 @@ src/CMakeFiles/cmake.check_cache
 
 \.vscode/
 doc/html
+.clang-format
-- 
GitLab