diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index bd0a5a129c8f076d8d6f3842c1e753046daa4a79..c9aa0cd1980d55577179a07be2c6c819055d2b4b 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -152,7 +152,7 @@ namespace wolf
*
* This API includes an element of type TypeInput, which might be either a std::string, or a YAML::node:
* - ````std::string```` is used to indicate the name of a configuration file. These files are usually YAML files containing configuration data to create your object.
- * - ````YAML::Node```` is used to access parts of a YAML file already encoded as nodes, such as when loading landmarks from a SLAM map stored as a YAML file.
+ * - ````YAML::Node```` is used to access parts of a YAML file already encoded as nodes, such as when loading landmarks from a SLAM map stored as a YAML file.
*
* Two examples:
*
diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index ff0574aaadc6a52015a6c9e4f076a1ec64d968c0..d16b46bb216871cd87b9ec74916d4560ab4569f8 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -27,12 +27,12 @@ namespace wolf
*
* Specific object creation is invoked by ````create(TYPE, params ... )````, and the TYPE of sensor is identified with a string.
* Currently, the following sensor types are implemented,
- * - "CAMERA" for SensorCamera
- * - "ODOM 2d" for SensorOdom2d
- * - "GPS FIX" for SensorGPSFix
+ * - "SensorCamera" for SensorCamera
+ * - "SensorOdom2d" for SensorOdom2d
+ * - "SensorOdom3d" for SensorOdom3d
+ * - "SensorDiffDrive" for SensorDiffDrive
*
- * The rule to make new TYPE strings unique is that you skip the prefix 'Sensor' from your class name,
- * and you build a string in CAPITALS with space separators, e.g.:
+ * TYPE is always a std::string with literally the same text as the derived class name, e.g.:
* - SensorCamera -> ````"CAMERA"````
* - SensorLaser2d -> ````"LASER 2d"````
* - etc.
@@ -69,7 +69,7 @@ namespace wolf
* that knows how to create your specific sensor, e.g.:
*
* \code
- * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* \endcode
*
* The method SensorCamera::create() exists in the SensorCamera class as a static method.
@@ -89,7 +89,7 @@ namespace wolf
* For example, in sensor_camera.cpp we find the line:
*
* \code
- * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the SensorCamera class).
@@ -99,7 +99,7 @@ namespace wolf
* The method unregisterCreator() unregisters the SensorXxx::create() method. It only needs to be passed the string of the sensor type.
*
* \code
- * FactorySensor::get().unregisterCreator("CAMERA");
+ * FactorySensor::get().unregisterCreator("SensorCamera");
* \endcode
*
* #### Creating sensors
@@ -109,7 +109,7 @@ namespace wolf
* To create e.g. a SensorCamera, you type:
*
* \code
- * FactorySensor::get().create("CAMERA", "Front-left camera", extrinsics, intrinsics_ptr);
+ * FactorySensor::get().create("SensorCamera", "Front-left camera", extrinsics, intrinsics_ptr);
* \endcode
*
* where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
@@ -130,10 +130,11 @@ namespace wolf
* assert(_extrinsics_pq.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3d.");
*
* // cast instrinsics to good type
- * ParamsSensorCamera* intrinsics_ptr = (ParamsSensorCamera*) _intrinsics;
+ * ParamsSensorCameraPtr intrinsics_ptr = std::static_pointer_cast<ParamsSensorCamera>(_intrinsics);
*
* // Do create the SensorCamera object, and complete its setup
- * SensorCamera* sen_ptr = new SensorCamera(_extrinsics_pq, intrinsics_ptr);
+ * SensorCameraPtr sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
+ *
* sen_ptr->setName(_unique_name);
*
* return sen_ptr;
@@ -148,7 +149,7 @@ namespace wolf
* Put the code either at global scope (you must define a dummy variable for this),
* \code
* namespace {
- * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* }
* main () { ... }
* \endcode
@@ -183,30 +184,29 @@ namespace wolf
* int main() {
*
* // To create a camera, provide:
- * // a type = "CAMERA",
+ * // a type = "SensorCamera",
* // a name = "Front-left camera",
* // an extrinsics vector, and
* // a pointer to the intrinsics struct:
*
- * Eigen::VectorXd extrinsics_1(7); // give it some values...
- * ParamsSensorCamera intrinsics_1({...}); // see FactoryParamsSensor to fill in the derived struct
+ * Eigen::VectorXd extrinsics_1(7); // give it some values...
+ * ParamsSensorCameraPtr intrinsics_1 = FactoryParamsSensor::get().create("ParamsSensorCamera", camera_1.yaml); // see FactoryParamsSensor to fill in the derived struct
*
* SensorBasePtr camera_1_ptr =
- * FactorySensor::get().create ( "CAMERA" , "Front-left camera" , extrinsics_1 , &intrinsics_1 );
+ * FactorySensor::get().create ( "SensorCamera" , "Front-left camera" , extrinsics_1 , intrinsics_1 );
*
* // A second camera... with a different name!
*
- * Eigen::VectorXd extrinsics_2(7);
- * ParamsSensorCamera intrinsics_2({...});
+ * Eigen::VectorXd extrinsics_2(7);
+ * ParamsSensorCameraPtr intrinsics_2 = FactoryParamsSensor::get().create("ParamsSensorCamera", camera_2.yaml);
*
* SensorBasePtr camera_2_ptr =
- * FactorySensor::get().create( "CAMERA" , "Front-right camera" , extrinsics_2 , &intrinsics_2 );
+ * FactorySensor::get().create( "SensorCamera" , "Front-right camera" , extrinsics_2 , intrinsics_2 );
*
* return 0;
* }
* \endcode
*
- * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
*/
// ParamsSensor factory