Update FactorySensor doc

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:
  *

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