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Commit 10096d6f authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Compact lines just for the sake of it

parent 3377d33b
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2 merge requests!466devel->main,!461Resolve "SensorPose with anisotropic noise specs"
Pipeline #13467 failed
Stage: deploy_plugins
    Stage: deploy_ros
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      include/core/sensor/sensor_base.h
      + 0
      − 9
      View file @ 10096d6f
      ...@@ -58,15 +58,10 @@ static ...@@ -58,15 +58,10 @@ static
      SensorBasePtr create(const std::string& _unique_name, const ParamsServer& _server) \ SensorBasePtr create(const std::string& _unique_name, const ParamsServer& _server) \
      { \ { \
      Eigen::VectorXd extrinsics = _server.template getParam<Eigen::VectorXd>("sensor/" + _unique_name + "/extrinsic/pose"); \ Eigen::VectorXd extrinsics = _server.template getParam<Eigen::VectorXd>("sensor/" + _unique_name + "/extrinsic/pose"); \
      \
      assert(extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \ assert(extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \
      \
      auto params = std::make_shared<ParamsSensorClass>(_unique_name, _server); \ auto params = std::make_shared<ParamsSensorClass>(_unique_name, _server); \
      \
      auto sensor = std::make_shared<SensorClass>(extrinsics, params); \ auto sensor = std::make_shared<SensorClass>(extrinsics, params); \
      \
      sensor ->setName(_unique_name); \ sensor ->setName(_unique_name); \
      \
      return sensor; \ return sensor; \
      } \ } \
      \ \
      ...@@ -74,13 +69,9 @@ static ...@@ -74,13 +69,9 @@ static
      SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics, const ParamsSensorBasePtr _intrinsics)\ SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXd& _extrinsics, const ParamsSensorBasePtr _intrinsics)\
      { \ { \
      assert(_extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \ assert(_extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \
      \
      auto params = std::static_pointer_cast<ParamsSensorClass>(_intrinsics); \ auto params = std::static_pointer_cast<ParamsSensorClass>(_intrinsics); \
      \
      auto sensor = std::make_shared<SensorClass>(_extrinsics, params); \ auto sensor = std::make_shared<SensorClass>(_extrinsics, params); \
      \
      sensor ->setName(_unique_name); \ sensor ->setName(_unique_name); \
      \
      return sensor; \ return sensor; \
      } \ } \
      ......
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