From 1485094d995b76fc12837654e96229d0d782949d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 25 Nov 2016 20:29:41 +0100
Subject: [PATCH] New macros for pointers and lists to classes
---
src/capture_fix.h | 6 +-
src/capture_gps.h | 6 +-
src/capture_gps_fix.h | 6 +-
src/capture_image.cpp | 2 +-
src/capture_image.h | 9 +-
src/capture_imu.h | 9 +-
src/capture_laser_2D.h | 8 +-
src/capture_motion.h | 6 +-
src/capture_void.h | 6 +-
src/constraint_AHP.h | 6 +-
src/constraint_analytic.h | 6 +-
src/constraint_container.h | 6 +-
src/constraint_corner_2D.h | 6 +-
src/constraint_epipolar.h | 6 +-
src/constraint_fix.h | 6 +-
src/constraint_fix_3D.h | 9 +-
src/constraint_gps_2D.h | 6 +-
src/constraint_gps_pseudorange_2D.h | 6 +-
src/constraint_gps_pseudorange_3D.h | 7 +-
src/constraint_imu.h | 6 +-
src/constraint_odom_2D.h | 6 +-
src/constraint_odom_2D_analytic.h | 6 +-
src/constraint_odom_3D.h | 6 +-
src/constraint_point_2D.h | 6 +-
src/constraint_point_to_line_2D.h | 6 +-
src/constraint_relative_2D_analytic.h | 6 +-
src/examples/test_mpu.cpp | 2 +-
.../test_processor_image_landmark.cpp | 4 +-
src/examples/test_simple_AHP.cpp | 2 +-
src/feature_corner_2D.h | 6 +-
src/feature_fix.h | 6 +-
src/feature_gps_fix.h | 6 +-
src/feature_gps_pseudorange.h | 6 +-
src/feature_imu.h | 6 +-
src/feature_line_2D.h | 6 +-
src/feature_odom_2D.h | 6 +-
src/feature_point_image.h | 6 +-
src/feature_polyline_2D.h | 6 +-
src/frame_imu.h | 6 +-
src/landmark_AHP.h | 6 +-
src/landmark_container.h | 6 +-
src/landmark_corner_2D.h | 6 +-
src/landmark_line_2D.h | 6 +-
src/landmark_point_3d.h | 6 +-
src/landmark_polyline_2D.h | 6 +-
src/processor_gps.h | 6 +-
src/processor_image_feature.cpp | 2 +-
src/processor_image_feature.h | 8 +-
src/processor_image_landmark.cpp | 2 +-
src/processor_image_landmark.h | 9 +-
src/processor_imu.h | 6 +-
src/processor_motion.h | 6 -
src/processor_odom_2D.h | 6 +-
src/processor_odom_3D.cpp | 6 +-
src/processor_odom_3D.h | 10 +-
src/processor_tracker.h | 7 +-
src/processor_tracker_feature.h | 7 +-
src/processor_tracker_feature_corner.h | 6 +-
src/processor_tracker_feature_dummy.h | 6 +-
src/processor_tracker_landmark.h | 6 +-
src/processor_tracker_landmark_corner.h | 7 +-
src/processor_tracker_landmark_dummy.h | 9 +-
src/processor_tracker_landmark_polyline.h | 9 +-
src/sensor_camera.h | 6 +-
src/sensor_gps.h | 6 +-
src/sensor_gps_fix.h | 2 +
src/sensor_imu.h | 1 +
src/sensor_laser_2D.cpp | 2 +-
src/sensor_laser_2D.h | 3 +-
src/sensor_odom_2D.h | 5 +-
src/sensor_odom_3D.h | 5 +-
src/test/gtest_frame_base.cpp | 2 +-
src/wolf.h | 124 ++++++------------
73 files changed, 126 insertions(+), 416 deletions(-)
diff --git a/src/capture_fix.h b/src/capture_fix.h
index f4aa579f0..a9f90944f 100644
--- a/src/capture_fix.h
+++ b/src/capture_fix.h
@@ -12,11 +12,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureFix;
-typedef std::shared_ptr<CaptureFix> CaptureFixPtr;
-typedef std::shared_ptr<const CaptureFix> CaptureFixConstPtr;
-typedef std::weak_ptr<CaptureFix> CaptureFixWPtr;
+WOLF_PTR_TYPEDEFS(CaptureFix);
//class CaptureFix
class CaptureFix : public CaptureBase
diff --git a/src/capture_gps.h b/src/capture_gps.h
index 1f3055a28..946619527 100644
--- a/src/capture_gps.h
+++ b/src/capture_gps.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureGPS;
-typedef std::shared_ptr<CaptureGPS> CaptureGPSPtr;
-typedef std::shared_ptr<const CaptureGPS> CaptureGPSConstPtr;
-typedef std::weak_ptr<CaptureGPS> CaptureGPSWPtr;
+WOLF_PTR_TYPEDEFS(CaptureGPS);
class CaptureGPS : public CaptureBase
{
diff --git a/src/capture_gps_fix.h b/src/capture_gps_fix.h
index 93b4777bb..3747eefaf 100644
--- a/src/capture_gps_fix.h
+++ b/src/capture_gps_fix.h
@@ -10,11 +10,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureGPSFix;
-typedef std::shared_ptr<CaptureGPSFix> CaptureGPSFixPtr;
-typedef std::shared_ptr<const CaptureGPSFix> CaptureGPSFixConstPtr;
-typedef std::weak_ptr<CaptureGPSFix> CaptureGPSFixWPtr;
+WOLF_PTR_TYPEDEFS(CaptureGPSFix);
//class CaptureGPSFix
class CaptureGPSFix : public CaptureBase
diff --git a/src/capture_image.cpp b/src/capture_image.cpp
index ef9dba573..35d71f730 100644
--- a/src/capture_image.cpp
+++ b/src/capture_image.cpp
@@ -3,7 +3,7 @@
namespace wolf {
-CaptureImage::CaptureImage(const TimeStamp& _ts, SensorCamera::Ptr _camera_ptr, cv::Mat _data_cv) :
+CaptureImage::CaptureImage(const TimeStamp& _ts, SensorCameraPtr _camera_ptr, cv::Mat _data_cv) :
CaptureBase("IMAGE", _ts, _camera_ptr), image_(_data_cv)
{
//
diff --git a/src/capture_image.h b/src/capture_image.h
index 6c8fae652..d1feeedc3 100644
--- a/src/capture_image.h
+++ b/src/capture_image.h
@@ -14,11 +14,8 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureImage;
-typedef std::shared_ptr<CaptureImage> CaptureImagePtr;
-typedef std::shared_ptr<const CaptureImage> CaptureImageConstPtr;
-typedef std::weak_ptr<CaptureImage> CaptureImageWPtr;
+// Set ClassPtr, ClassConstPtr and ClassWPtr typedefs;
+WOLF_PTR_TYPEDEFS(CaptureImage);
/**
* \brief class CaptureImage
@@ -34,7 +31,7 @@ class CaptureImage : public CaptureBase
std::vector<cv::KeyPoint> keypoints_;
public:
- CaptureImage(const TimeStamp& _ts, SensorCamera::Ptr _camera_ptr, cv::Mat _data_cv);
+ CaptureImage(const TimeStamp& _ts, SensorCameraPtr _camera_ptr, cv::Mat _data_cv);
virtual ~CaptureImage();
virtual const cv::Mat& getImage() const;
diff --git a/src/capture_imu.h b/src/capture_imu.h
index c4c6a6cd3..55e8d8848 100644
--- a/src/capture_imu.h
+++ b/src/capture_imu.h
@@ -6,17 +6,10 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureIMU;
-typedef std::shared_ptr<CaptureIMU> CaptureIMUPtr;
-typedef std::shared_ptr<const CaptureIMU> CaptureIMUConstPtr;
-typedef std::weak_ptr<CaptureIMU> CaptureIMUWPtr;
+WOLF_PTR_TYPEDEFS(CaptureIMU);
class CaptureIMU : public CaptureMotion
{
- public:
- typedef std::shared_ptr<CaptureIMU> Ptr;
-
public:
CaptureIMU(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::Vector6s& _data);
diff --git a/src/capture_laser_2D.h b/src/capture_laser_2D.h
index c6ac10e07..3a0612860 100644
--- a/src/capture_laser_2D.h
+++ b/src/capture_laser_2D.h
@@ -16,11 +16,7 @@ class SensorLaser2D;
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureLaser2D;
-typedef std::shared_ptr<CaptureLaser2D> CaptureLaser2DPtr;
-typedef std::shared_ptr<const CaptureLaser2D> CaptureLaser2DConstPtr;
-typedef std::weak_ptr<CaptureLaser2D> CaptureLaser2DWPtr;
+WOLF_PTR_TYPEDEFS(CaptureLaser2D);
class CaptureLaser2D : public CaptureBase
@@ -36,7 +32,7 @@ class CaptureLaser2D : public CaptureBase
void setSensorPtr(const SensorBasePtr sensor_ptr);
private:
- SensorLaser2D::Ptr laser_ptr_; //specific pointer to sensor laser 2D object
+ SensorLaser2DPtr laser_ptr_; //specific pointer to sensor laser 2D object
laserscanutils::LaserScan scan_;
};
diff --git a/src/capture_motion.h b/src/capture_motion.h
index bebdccbb7..f3d325a7a 100644
--- a/src/capture_motion.h
+++ b/src/capture_motion.h
@@ -20,11 +20,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureMotion;
-typedef std::shared_ptr<CaptureMotion> CaptureMotionPtr;
-typedef std::shared_ptr<const CaptureMotion> CaptureMotionConst;
-typedef std::weak_ptr<CaptureMotion> CaptureMotionWPtr;
+WOLF_PTR_TYPEDEFS(CaptureMotion);
/** \brief Base class for motion Captures.
diff --git a/src/capture_void.h b/src/capture_void.h
index 1d50d88eb..50b3b3c7d 100644
--- a/src/capture_void.h
+++ b/src/capture_void.h
@@ -7,11 +7,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class CaptureVoid;
-typedef std::shared_ptr<CaptureVoid> CaptureVoidPtr;
-typedef std::shared_ptr<const CaptureVoid> CaptureVoidConstPtr;
-typedef std::weak_ptr<CaptureVoid> CaptureVoidWPtr;
+WOLF_PTR_TYPEDEFS(CaptureVoid);
//class CaptureVoid
diff --git a/src/constraint_AHP.h b/src/constraint_AHP.h
index 87e7d164d..dc4df1914 100644
--- a/src/constraint_AHP.h
+++ b/src/constraint_AHP.h
@@ -12,11 +12,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintAHP;
-typedef std::shared_ptr<ConstraintAHP> ConstraintAHPPtr;
-typedef std::shared_ptr<const ConstraintAHP> ConstraintAHPConstPtr;
-typedef std::weak_ptr<ConstraintAHP> ConstraintAHPWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintAHP);
//class
class ConstraintAHP : public ConstraintSparse<2, 3, 4, 3, 4, 4>
diff --git a/src/constraint_analytic.h b/src/constraint_analytic.h
index 3b1414f32..a7c1f28d6 100644
--- a/src/constraint_analytic.h
+++ b/src/constraint_analytic.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintAnalytic;
-typedef std::shared_ptr<ConstraintAnalytic> ConstraintAnalyticPtr;
-typedef std::shared_ptr<const ConstraintAnalytic> ConstraintAnalyticConstPtr;
-typedef std::weak_ptr<ConstraintAnalytic> ConstraintAnalyticWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintAnalytic);
class ConstraintAnalytic: public ConstraintBase
{
diff --git a/src/constraint_container.h b/src/constraint_container.h
index f0303c987..35fd158c7 100644
--- a/src/constraint_container.h
+++ b/src/constraint_container.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintContainer;
-typedef std::shared_ptr<ConstraintContainer> ConstraintContainerPtr;
-typedef std::shared_ptr<const ConstraintContainer> ConstraintContainerConstPtr;
-typedef std::weak_ptr<ConstraintContainer> ConstraintContainerWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintContainer);
class ConstraintContainer: public ConstraintSparse<3,2,1,2,1>
{
diff --git a/src/constraint_corner_2D.h b/src/constraint_corner_2D.h
index 4721ebf6f..1e6a4c8ac 100644
--- a/src/constraint_corner_2D.h
+++ b/src/constraint_corner_2D.h
@@ -7,11 +7,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintCorner2D;
-typedef std::shared_ptr<ConstraintCorner2D> ConstraintCorner2DPtr;
-typedef std::shared_ptr<const ConstraintCorner2D> ConstraintCorner2DConstPtr;
-typedef std::weak_ptr<ConstraintCorner2D> ConstraintCorner2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintCorner2D);
class ConstraintCorner2D: public ConstraintSparse<3,2,1,2,1>
{
diff --git a/src/constraint_epipolar.h b/src/constraint_epipolar.h
index 9c02fa395..373579d04 100644
--- a/src/constraint_epipolar.h
+++ b/src/constraint_epipolar.h
@@ -5,11 +5,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintEpipolar;
-typedef std::shared_ptr<ConstraintEpipolar> ConstraintEpipolarPtr;
-typedef std::shared_ptr<const ConstraintEpipolar> ConstraintEpipolarConstPtr;
-typedef std::weak_ptr<ConstraintEpipolar> ConstraintEpipolarWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintEpipolar);
class ConstraintEpipolar : public ConstraintBase
diff --git a/src/constraint_fix.h b/src/constraint_fix.h
index ae3656de8..484f87791 100644
--- a/src/constraint_fix.h
+++ b/src/constraint_fix.h
@@ -9,11 +9,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintFix;
-typedef std::shared_ptr<ConstraintFix> ConstraintFixPtr;
-typedef std::shared_ptr<const ConstraintFix> ConstraintFixConstPtr;
-typedef std::weak_ptr<ConstraintFix> ConstraintFixWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintFix);
//class
class ConstraintFix: public ConstraintSparse<3,2,1>
diff --git a/src/constraint_fix_3D.h b/src/constraint_fix_3D.h
index 9e8c43f0e..9f3f5fec9 100644
--- a/src/constraint_fix_3D.h
+++ b/src/constraint_fix_3D.h
@@ -10,18 +10,11 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintFix3D;
-typedef std::shared_ptr<ConstraintFix3D> ConstraintFix3DPtr;
-typedef std::shared_ptr<const ConstraintFix3D> ConstraintFix3DConstPtr;
-typedef std::weak_ptr<ConstraintFix3D> ConstraintFix3DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintFix3D);
//class
class ConstraintFix3D: public ConstraintSparse<6,3,4>
{
- public:
- typedef std::shared_ptr<ConstraintFix3D> Ptr;
-
public:
ConstraintFix3D(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, ConstraintStatus _status = CTR_ACTIVE) :
diff --git a/src/constraint_gps_2D.h b/src/constraint_gps_2D.h
index f2490e2a1..0f3f011c5 100644
--- a/src/constraint_gps_2D.h
+++ b/src/constraint_gps_2D.h
@@ -9,11 +9,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintGPS2D;
-typedef std::shared_ptr<ConstraintGPS2D> ConstraintGPS2DPtr;
-typedef std::shared_ptr<const ConstraintGPS2D> ConstraintGPS2DConstPtr;
-typedef std::weak_ptr<ConstraintGPS2D> ConstraintGPS2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintGPS2D);
class ConstraintGPS2D : public ConstraintSparse<2, 2>
{
diff --git a/src/constraint_gps_pseudorange_2D.h b/src/constraint_gps_pseudorange_2D.h
index 6db67cb28..b2e2a2cdd 100644
--- a/src/constraint_gps_pseudorange_2D.h
+++ b/src/constraint_gps_pseudorange_2D.h
@@ -14,11 +14,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintGPSPseudorange2D;
-typedef std::shared_ptr<ConstraintGPSPseudorange2D> ConstraintGPSPseudorange2DPtr;
-typedef std::shared_ptr<const ConstraintGPSPseudorange2D> ConstraintGPSPseudorange2DConstPtr;
-typedef std::weak_ptr<ConstraintGPSPseudorange2D> ConstraintGPSPseudorange2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintGPSPseudorange2D);
/*
* NB:
diff --git a/src/constraint_gps_pseudorange_3D.h b/src/constraint_gps_pseudorange_3D.h
index 86a2e2b2d..e7d7c93e6 100644
--- a/src/constraint_gps_pseudorange_3D.h
+++ b/src/constraint_gps_pseudorange_3D.h
@@ -10,11 +10,8 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintGPSPseudorange3D;
-typedef std::shared_ptr<ConstraintGPSPseudorange3D> ConstraintGPSPseudorange3DPtr;
-typedef std::shared_ptr<const ConstraintGPSPseudorange3D> ConstraintGPSPseudorange3DConstPtr;
-typedef std::weak_ptr<ConstraintGPSPseudorange3D> ConstraintGPSPseudorange3DWPtr;
+// Set ClassPtr, ClassConstPtr and ClassWPtr typedefs;
+WOLF_PTR_TYPEDEFS(ConstraintGPSPseudorange3D);
/*
* NB:
diff --git a/src/constraint_imu.h b/src/constraint_imu.h
index c7320a3fc..205e5b7ab 100644
--- a/src/constraint_imu.h
+++ b/src/constraint_imu.h
@@ -10,11 +10,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintIMU;
-typedef std::shared_ptr<ConstraintIMU> ConstraintIMUPtr;
-typedef std::shared_ptr<const ConstraintIMU> ConstraintIMUConstPtr;
-typedef std::weak_ptr<ConstraintIMU> ConstraintIMUWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintIMU);
//class
class ConstraintIMU : public ConstraintSparse<9, 3, 4, 3, 3, 3, 3, 4, 3>
diff --git a/src/constraint_odom_2D.h b/src/constraint_odom_2D.h
index fb89f42ee..d133448cc 100644
--- a/src/constraint_odom_2D.h
+++ b/src/constraint_odom_2D.h
@@ -7,11 +7,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintOdom2D;
-typedef std::shared_ptr<ConstraintOdom2D> ConstraintOdom2DPtr;
-typedef std::shared_ptr<const ConstraintOdom2D> ConstraintOdom2DConstPtr;
-typedef std::weak_ptr<ConstraintOdom2D> ConstraintOdom2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintOdom2D);
//class
class ConstraintOdom2D : public ConstraintSparse<3, 2, 1, 2, 1>
diff --git a/src/constraint_odom_2D_analytic.h b/src/constraint_odom_2D_analytic.h
index ba0a0abaf..74fbb56a5 100644
--- a/src/constraint_odom_2D_analytic.h
+++ b/src/constraint_odom_2D_analytic.h
@@ -7,11 +7,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintOdom2DAnalytic;
-typedef std::shared_ptr<ConstraintOdom2DAnalytic> ConstraintOdom2DAnalyticPtr;
-typedef std::shared_ptr<const ConstraintOdom2DAnalytic> ConstraintOdom2DAnalyticConstPtr;
-typedef std::weak_ptr<ConstraintOdom2DAnalytic> ConstraintOdom2DAnalyticWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintOdom2DAnalytic);
//class
class ConstraintOdom2DAnalytic : public ConstraintRelative2DAnalytic
diff --git a/src/constraint_odom_3D.h b/src/constraint_odom_3D.h
index c90f5a378..f2492f77f 100644
--- a/src/constraint_odom_3D.h
+++ b/src/constraint_odom_3D.h
@@ -14,11 +14,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ConstraintOdom3D;
-typedef std::shared_ptr<ConstraintOdom3D> ConstraintOdom3DPtr;
-typedef std::shared_ptr<const ConstraintOdom3D> ConstraintOdom3DConstPtr;
-typedef std::weak_ptr<ConstraintOdom3D> ConstraintOdom3DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintOdom3D);
//class
class ConstraintOdom3D : public ConstraintSparse<6,3,4,3,4>
diff --git a/src/constraint_point_2D.h b/src/constraint_point_2D.h
index 9e921c9b2..7cd35e284 100644
--- a/src/constraint_point_2D.h
+++ b/src/constraint_point_2D.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintPoint2D;
-typedef std::shared_ptr<ConstraintPoint2D> ConstraintPoint2DPtr;
-typedef std::shared_ptr<const ConstraintPoint2D> ConstraintPoint2DConstPtr;
-typedef std::weak_ptr<ConstraintPoint2D> ConstraintPoint2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintPoint2D);
//class
class ConstraintPoint2D: public ConstraintSparse<2,2,1,2,1,2>
diff --git a/src/constraint_point_to_line_2D.h b/src/constraint_point_to_line_2D.h
index 63920a1c1..11dcae8a2 100644
--- a/src/constraint_point_to_line_2D.h
+++ b/src/constraint_point_to_line_2D.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintPointToLine2D;
-typedef std::shared_ptr<ConstraintPointToLine2D> ConstraintPointToLine2DPtr;
-typedef std::shared_ptr<const ConstraintPointToLine2D> ConstraintPointToLine2DConstPtr;
-typedef std::weak_ptr<ConstraintPointToLine2D> ConstraintPointToLine2DWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintPointToLine2D);
//class
class ConstraintPointToLine2D: public ConstraintSparse<1,2,1,2,1,2,2>
diff --git a/src/constraint_relative_2D_analytic.h b/src/constraint_relative_2D_analytic.h
index c363d5a75..b960d2e9b 100644
--- a/src/constraint_relative_2D_analytic.h
+++ b/src/constraint_relative_2D_analytic.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ConstraintRelative2DAnalytic;
-typedef std::shared_ptr<ConstraintRelative2DAnalytic> ConstraintRelative2DAnalyticPtr;
-typedef std::shared_ptr<const ConstraintRelative2DAnalytic> ConstraintRelative2DAnalyticConstPtr;
-typedef std::weak_ptr<ConstraintRelative2DAnalytic> ConstraintRelative2DAnalyticWPtr;
+WOLF_PTR_TYPEDEFS(ConstraintRelative2DAnalytic);
//class
class ConstraintRelative2DAnalytic : public ConstraintAnalytic
diff --git a/src/examples/test_mpu.cpp b/src/examples/test_mpu.cpp
index 8d8a92535..61f1cf37a 100644
--- a/src/examples/test_mpu.cpp
+++ b/src/examples/test_mpu.cpp
@@ -123,7 +123,7 @@ int main(int argc, char** argv)
wolf_problem_ptr_->getProcessorMotionPtr()->setOrigin(x0, t);
// Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
- CaptureIMU::Ptr imu_ptr( std::make_shared<CaptureIMU>(t, sensor_ptr, data_) );
+ CaptureIMUPtr imu_ptr( std::make_shared<CaptureIMU>(t, sensor_ptr, data_) );
// main loop
using namespace std;
diff --git a/src/examples/test_processor_image_landmark.cpp b/src/examples/test_processor_image_landmark.cpp
index 910edb433..8cfe8a230 100644
--- a/src/examples/test_processor_image_landmark.cpp
+++ b/src/examples/test_processor_image_landmark.cpp
@@ -105,11 +105,11 @@ int main(int argc, char** argv)
// ODOM SENSOR AND PROCESSOR
SensorBasePtr sen_ptr = wolf_problem_ptr_->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D.yaml");
ProcessorBasePtr prc_ptr = wolf_problem_ptr_->installProcessor("ODOM 3D", "odometry integrator", "odom", wolf_root + "/src/examples/processor_odom_3D.yaml");
- SensorOdom3D::Ptr sen_odo_ptr = std::static_pointer_cast<SensorOdom3D>(sen_ptr);
+ SensorOdom3DPtr sen_odo_ptr = std::static_pointer_cast<SensorOdom3D>(sen_ptr);
// CAMERA SENSOR AND PROCESSOR
SensorBasePtr sensor_ptr = wolf_problem_ptr_->installSensor("CAMERA", "PinHole", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/camera_params_ueye_sim.yaml");
- SensorCamera::Ptr camera_ptr = std::static_pointer_cast<SensorCamera>(sensor_ptr);
+ SensorCameraPtr camera_ptr = std::static_pointer_cast<SensorCamera>(sensor_ptr);
camera_ptr->setImgWidth(img_width);
camera_ptr->setImgHeight(img_height);
wolf_problem_ptr_->installProcessor("IMAGE LANDMARK", "ORB", "PinHole", wolf_root + "/src/examples/processor_image_ORB.yaml");
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 541a603b2..032d1dab3 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -112,7 +112,7 @@ int main(int argc, char** argv)
/* 2 */
std::string wolf_root = _WOLF_ROOT_DIR;
SensorBasePtr sensor_ptr = problem->installSensor("CAMERA", "PinHole", (Vector7s()<<0,0,0,-0.5,0.5,-0.5,0.5).finished(), wolf_root + "/src/examples/camera_params_ueye_sim.yaml");
- SensorCamera::Ptr camera = std::static_pointer_cast<SensorCamera>(sensor_ptr);
+ SensorCameraPtr camera = std::static_pointer_cast<SensorCamera>(sensor_ptr);
// ============================================================================================================
// ============================================================================================================
diff --git a/src/feature_corner_2D.h b/src/feature_corner_2D.h
index dbeee2588..d43b82025 100644
--- a/src/feature_corner_2D.h
+++ b/src/feature_corner_2D.h
@@ -9,11 +9,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureCorner2D;
-typedef std::shared_ptr<FeatureCorner2D> FeatureCorner2DPtr;
-typedef std::shared_ptr<const FeatureCorner2D> FeatureCorner2DConstPtr;
-typedef std::weak_ptr<FeatureCorner2D> FeatureCorner2DWPtr;
+WOLF_PTR_TYPEDEFS(FeatureCorner2D);
//class FeatureCorner2D
class FeatureCorner2D : public FeatureBase
diff --git a/src/feature_fix.h b/src/feature_fix.h
index 2672c152b..d7649bcc3 100644
--- a/src/feature_fix.h
+++ b/src/feature_fix.h
@@ -10,11 +10,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureFix;
-typedef std::shared_ptr<FeatureFix> FeatureFixPtr;
-typedef std::shared_ptr<const FeatureFix> FeatureFixConstPtr;
-typedef std::weak_ptr<FeatureFix> FeatureFixWPtr;
+WOLF_PTR_TYPEDEFS(FeatureFix);
//class FeatureFix
class FeatureFix : public FeatureBase
diff --git a/src/feature_gps_fix.h b/src/feature_gps_fix.h
index 9e81309af..71fd098f1 100644
--- a/src/feature_gps_fix.h
+++ b/src/feature_gps_fix.h
@@ -9,11 +9,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureGPSFix;
-typedef std::shared_ptr<FeatureGPSFix> FeatureGPSFixPtr;
-typedef std::shared_ptr<const FeatureGPSFix> FeatureGPSFixConstPtr;
-typedef std::weak_ptr<FeatureGPSFix> FeatureGPSFixWPtr;
+WOLF_PTR_TYPEDEFS(FeatureGPSFix);
//class FeatureGPSFix
class FeatureGPSFix : public FeatureBase
diff --git a/src/feature_gps_pseudorange.h b/src/feature_gps_pseudorange.h
index e68293b68..5adaa5b6c 100644
--- a/src/feature_gps_pseudorange.h
+++ b/src/feature_gps_pseudorange.h
@@ -11,11 +11,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureGPSPseudorange;
-typedef std::shared_ptr<FeatureGPSPseudorange> FeatureGPSPseudorangePtr;
-typedef std::shared_ptr<const FeatureGPSPseudorange> FeatureGPSPseudorangeConstPtr;
-typedef std::weak_ptr<FeatureGPSPseudorange> FeatureGPSPseudorangeWPtr;
+WOLF_PTR_TYPEDEFS(FeatureGPSPseudorange);
// TODO manage covariance
class FeatureGPSPseudorange : public FeatureBase
diff --git a/src/feature_imu.h b/src/feature_imu.h
index f4a412498..a19336857 100644
--- a/src/feature_imu.h
+++ b/src/feature_imu.h
@@ -9,11 +9,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureIMU;
-typedef std::shared_ptr<FeatureIMU> FeatureIMUPtr;
-typedef std::shared_ptr<const FeatureIMU> FeatureIMUConstPtr;
-typedef std::weak_ptr<FeatureIMU> FeatureIMUWPtr;
+WOLF_PTR_TYPEDEFS(FeatureIMU);
//class FeatureIMU
class FeatureIMU : public FeatureBase
diff --git a/src/feature_line_2D.h b/src/feature_line_2D.h
index 39cda0be8..cd99621a0 100644
--- a/src/feature_line_2D.h
+++ b/src/feature_line_2D.h
@@ -6,11 +6,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureLine2D;
-typedef std::shared_ptr<FeatureLine2D> FeatureLine2DPtr;
-typedef std::shared_ptr<const FeatureLine2D> FeatureLine2DConstPtr;
-typedef std::weak_ptr<FeatureLine2D> FeatureLine2DWPtr;
+WOLF_PTR_TYPEDEFS(FeatureLine2D);
/** \brief class FeatureLine2D
diff --git a/src/feature_odom_2D.h b/src/feature_odom_2D.h
index 9241fcd4c..812f34567 100644
--- a/src/feature_odom_2D.h
+++ b/src/feature_odom_2D.h
@@ -11,11 +11,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeatureOdom2D;
-typedef std::shared_ptr<FeatureOdom2D> FeatureOdom2DPtr;
-typedef std::shared_ptr<const FeatureOdom2D> FeatureOdom2DConstPtr;
-typedef std::weak_ptr<FeatureOdom2D> FeatureOdom2DWPtr;
+WOLF_PTR_TYPEDEFS(FeatureOdom2D);
//class FeatureOdom2D
class FeatureOdom2D : public FeatureBase
diff --git a/src/feature_point_image.h b/src/feature_point_image.h
index e7514bd09..5535b3ce8 100644
--- a/src/feature_point_image.h
+++ b/src/feature_point_image.h
@@ -11,11 +11,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class FeaturePointImage;
-typedef std::shared_ptr<FeaturePointImage> FeaturePointImagePtr;
-typedef std::shared_ptr<const FeaturePointImage> FeaturePointImageConstPtr;
-typedef std::weak_ptr<FeaturePointImage> FeaturePointImageWPtr;
+WOLF_PTR_TYPEDEFS(FeaturePointImage);
//class FeaturePointImage
class FeaturePointImage : public FeatureBase
diff --git a/src/feature_polyline_2D.h b/src/feature_polyline_2D.h
index 0b16e29e2..60f3258f5 100644
--- a/src/feature_polyline_2D.h
+++ b/src/feature_polyline_2D.h
@@ -12,11 +12,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class FeaturePolyline2D;
-typedef std::shared_ptr<FeaturePolyline2D> FeaturePolyline2DPtr;
-typedef std::shared_ptr<const FeaturePolyline2D> FeaturePolyline2DConstPtr;
-typedef std::weak_ptr<FeaturePolyline2D> FeaturePolyline2DWPtr;
+WOLF_PTR_TYPEDEFS(FeaturePolyline2D);
//class
class FeaturePolyline2D : public FeatureBase
diff --git a/src/frame_imu.h b/src/frame_imu.h
index 61e3a89d8..4b6ddb9a0 100644
--- a/src/frame_imu.h
+++ b/src/frame_imu.h
@@ -15,11 +15,7 @@ class StateQuaternion;
namespace wolf {
-//forward declaration to typedef class pointers
-class FrameIMU;
-typedef std::shared_ptr<FrameIMU> FrameIMUPtr;
-typedef std::shared_ptr<const FrameIMU> FrameIMUConstPtr;
-typedef std::weak_ptr<FrameIMU> FrameIMUWPtr;
+WOLF_PTR_TYPEDEFS(FrameIMU);
//class
class FrameIMU : public FrameBase
diff --git a/src/landmark_AHP.h b/src/landmark_AHP.h
index caacc21f6..0a31b8992 100644
--- a/src/landmark_AHP.h
+++ b/src/landmark_AHP.h
@@ -12,11 +12,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class LandmarkAHP;
-typedef std::shared_ptr<LandmarkAHP> LandmarkAHPPtr;
-typedef std::shared_ptr<const LandmarkAHP> LandmarkAHPConstPtr;
-typedef std::weak_ptr<LandmarkAHP> LandmarkAHPWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkAHP);
/* Landmark - Anchored Homogeneous Point*/
class LandmarkAHP : public LandmarkBase
diff --git a/src/landmark_container.h b/src/landmark_container.h
index 7bc6964ef..0f51f3c5a 100644
--- a/src/landmark_container.h
+++ b/src/landmark_container.h
@@ -10,11 +10,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class LandmarkContainer;
-typedef std::shared_ptr<LandmarkContainer> LandmarkContainerPtr;
-typedef std::shared_ptr<const LandmarkContainer> LandmarkContainerConstPtr;
-typedef std::weak_ptr<LandmarkContainer> LandmarkContainerWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkContainer);
//class LandmarkContainer
class LandmarkContainer : public LandmarkBase
diff --git a/src/landmark_corner_2D.h b/src/landmark_corner_2D.h
index 0cb9b12b0..1eb99a975 100644
--- a/src/landmark_corner_2D.h
+++ b/src/landmark_corner_2D.h
@@ -10,11 +10,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class LandmarkCorner2D;
-typedef std::shared_ptr<LandmarkCorner2D> LandmarkCorner2DPtr;
-typedef std::shared_ptr<const LandmarkCorner2D> LandmarkCorner2DConstPtr;
-typedef std::weak_ptr<LandmarkCorner2D> LandmarkCorner2DWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkCorner2D);
//class LandmarkCorner2D
class LandmarkCorner2D : public LandmarkBase
diff --git a/src/landmark_line_2D.h b/src/landmark_line_2D.h
index 30508c01e..514cd550b 100644
--- a/src/landmark_line_2D.h
+++ b/src/landmark_line_2D.h
@@ -11,11 +11,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class LandmarkLine2D;
-typedef std::shared_ptr<LandmarkLine2D> LandmarkLine2DPtr;
-typedef std::shared_ptr<const LandmarkLine2D> LandmarkLine2DConstPtr;
-typedef std::weak_ptr<LandmarkLine2D> LandmarkLine2DWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkLine2D);
//class LandmarkLine2D
diff --git a/src/landmark_point_3d.h b/src/landmark_point_3d.h
index 8f26cdfa4..531346c94 100644
--- a/src/landmark_point_3d.h
+++ b/src/landmark_point_3d.h
@@ -12,11 +12,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class LandmarkPoint3D;
-typedef std::shared_ptr<LandmarkPoint3D> LandmarkPoint3DPtr;
-typedef std::shared_ptr<const LandmarkPoint3D> LandmarkPoint3DConstPtr;
-typedef std::weak_ptr<LandmarkPoint3D> LandmarkPoint3DWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkPoint3D);
//class
class LandmarkPoint3D : public LandmarkBase
diff --git a/src/landmark_polyline_2D.h b/src/landmark_polyline_2D.h
index a35c6f51f..d2b8fb8f9 100644
--- a/src/landmark_polyline_2D.h
+++ b/src/landmark_polyline_2D.h
@@ -29,11 +29,7 @@ typedef enum
PALLET, ///< A pallet box 0.9 x 1.2 (m)
} LandmarkClassification;
-//forward declaration to typedef class pointers
-class LandmarkPolyline2D;
-typedef std::shared_ptr<LandmarkPolyline2D> LandmarkPolyline2DPtr;
-typedef std::shared_ptr<const LandmarkPolyline2D> LandmarkPolyline2DConstPtr;
-typedef std::weak_ptr<LandmarkPolyline2D> LandmarkPolyline2DWPtr;
+WOLF_PTR_TYPEDEFS(LandmarkPolyline2D);
//class
class LandmarkPolyline2D : public LandmarkBase
diff --git a/src/processor_gps.h b/src/processor_gps.h
index f9ea51a8e..d89ff86b4 100644
--- a/src/processor_gps.h
+++ b/src/processor_gps.h
@@ -14,11 +14,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorGPS;
-typedef std::shared_ptr<ProcessorGPS> ProcessorGPSPtr;
-typedef std::shared_ptr<const ProcessorGPS> ProcessorGPSConstPtr;
-typedef std::weak_ptr<ProcessorGPS> ProcessorGPSWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorGPS);
//class
class ProcessorGPS : public ProcessorBase
diff --git a/src/processor_image_feature.cpp b/src/processor_image_feature.cpp
index ce411c18a..a514feb06 100644
--- a/src/processor_image_feature.cpp
+++ b/src/processor_image_feature.cpp
@@ -65,7 +65,7 @@ ProcessorImageFeature::~ProcessorImageFeature()
//
}
-void ProcessorImageFeature::setup(SensorCamera::Ptr _camera_ptr)
+void ProcessorImageFeature::setup(SensorCameraPtr _camera_ptr)
{
image_.width_ = _camera_ptr->getImgWidth();
image_.height_ = _camera_ptr->getImgHeight();
diff --git a/src/processor_image_feature.h b/src/processor_image_feature.h
index b73f1065e..a26e85b6a 100644
--- a/src/processor_image_feature.h
+++ b/src/processor_image_feature.h
@@ -26,11 +26,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorImageFeature;
-typedef std::shared_ptr<ProcessorImageFeature> ProcessorImageFeaturePtr;
-typedef std::shared_ptr<const ProcessorImageFeature> ProcessorImageFeatureConstPtr;
-typedef std::weak_ptr<ProcessorImageFeature> ProcessorImageFeatureWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorImageFeature);
//class
class ProcessorImageFeature : public ProcessorTrackerFeature
@@ -66,7 +62,7 @@ class ProcessorImageFeature : public ProcessorTrackerFeature
ProcessorImageFeature(ProcessorParamsImage _params);
virtual ~ProcessorImageFeature();
- virtual void setup(SensorCamera::Ptr _camera_ptr);
+ virtual void setup(SensorCameraPtr _camera_ptr);
protected:
diff --git a/src/processor_image_landmark.cpp b/src/processor_image_landmark.cpp
index 5912ca5fb..c725355c1 100644
--- a/src/processor_image_landmark.cpp
+++ b/src/processor_image_landmark.cpp
@@ -72,7 +72,7 @@ ProcessorImageLandmark::~ProcessorImageLandmark()
//
}
-void ProcessorImageLandmark::setup(SensorCamera::Ptr _camera_ptr)
+void ProcessorImageLandmark::setup(SensorCameraPtr _camera_ptr)
{
image_.width_ = _camera_ptr->getImgWidth();
image_.height_ = _camera_ptr->getImgHeight();
diff --git a/src/processor_image_landmark.h b/src/processor_image_landmark.h
index 3c22dc2c7..23fc48e97 100644
--- a/src/processor_image_landmark.h
+++ b/src/processor_image_landmark.h
@@ -26,11 +26,8 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorImageFeature;
-typedef std::shared_ptr<ProcessorImageFeature> ProcessorImageFeaturePtr;
-typedef std::shared_ptr<const ProcessorImageFeature> ProcessorImageFeatureConstPtr;
-typedef std::weak_ptr<ProcessorImageFeature> ProcessorImageFeatureWPtr;
+
+WOLF_PTR_TYPEDEFS(ProcessorImageFeature);
//Class
class ProcessorImageLandmark : public ProcessorTrackerLandmark
@@ -82,7 +79,7 @@ class ProcessorImageLandmark : public ProcessorTrackerLandmark
ProcessorImageLandmark(const ProcessorParamsImage& _params);
virtual ~ProcessorImageLandmark();
- virtual void setup(SensorCamera::Ptr _camera_ptr);
+ virtual void setup(SensorCameraPtr _camera_ptr);
protected:
diff --git a/src/processor_imu.h b/src/processor_imu.h
index 84e75ff46..c20f141b1 100644
--- a/src/processor_imu.h
+++ b/src/processor_imu.h
@@ -8,11 +8,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorIMU;
-typedef std::shared_ptr<ProcessorIMU> ProcessorIMUPtr;
-typedef std::shared_ptr<const ProcessorIMU> ProcessorIMUConstPtr;
-typedef std::weak_ptr<ProcessorIMU> ProcessorIMUWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorIMU);
//class
class ProcessorIMU : public ProcessorMotion{
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 08b053c5b..943c0fe0e 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -19,12 +19,6 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ProcessorMotion;
-typedef std::shared_ptr<ProcessorMotion> ProcessorMotionPtr;
-typedef std::shared_ptr<const ProcessorMotion> ProcessorMotionConstPtr;
-typedef std::weak_ptr<ProcessorMotion> ProcessorMotionWPtr;
-
/** \brief class for Motion processors
*
* This processor integrates motion data into vehicle states.
diff --git a/src/processor_odom_2D.h b/src/processor_odom_2D.h
index 009812cd0..657f5b84a 100644
--- a/src/processor_odom_2D.h
+++ b/src/processor_odom_2D.h
@@ -14,11 +14,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorOdom2D;
-typedef std::shared_ptr<ProcessorOdom2D> ProcessorOdom2DPtr;
-typedef std::shared_ptr<const ProcessorOdom2D> ProcessorOdom2DConstPtr;
-typedef std::weak_ptr<ProcessorOdom2D> ProcessorOdom2DWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorOdom2D);
struct ProcessorParamsOdom2D : public ProcessorParamsBase
diff --git a/src/processor_odom_3D.cpp b/src/processor_odom_3D.cpp
index 04184e891..9273590e9 100644
--- a/src/processor_odom_3D.cpp
+++ b/src/processor_odom_3D.cpp
@@ -2,7 +2,7 @@
namespace wolf
{
-ProcessorOdom3D::ProcessorOdom3D(ProcessorOdom3DParams::Ptr _params, SensorOdom3D::Ptr _sensor_ptr) :
+ProcessorOdom3D::ProcessorOdom3D(ProcessorOdom3DParams::Ptr _params, SensorOdom3DPtr _sensor_ptr) :
ProcessorMotion("ODOM 3D", 7, 7, 6, 6),
max_time_span_ (_params ? _params ->max_time_span : 1.0 ),
max_buff_length_(_params ? _params ->max_buff_length : 10 ),
@@ -21,7 +21,7 @@ ProcessorOdom3D::~ProcessorOdom3D()
{
}
-void ProcessorOdom3D::setup(SensorOdom3D::Ptr sen_ptr)
+void ProcessorOdom3D::setup(SensorOdom3DPtr sen_ptr)
{
if (sen_ptr)
{
@@ -249,7 +249,7 @@ ProcessorBasePtr ProcessorOdom3D::create(const std::string& _unique_name, const
// cast inputs to the correct type
std::shared_ptr<ProcessorOdom3DParams> prc_odo_params = std::static_pointer_cast<ProcessorOdom3DParams>(_params);
- SensorOdom3D::Ptr sen_odo =std::static_pointer_cast<SensorOdom3D>(_sen_ptr);
+ SensorOdom3DPtr sen_odo =std::static_pointer_cast<SensorOdom3D>(_sen_ptr);
// construct processor
std::shared_ptr<ProcessorOdom3D> prc_odo = std::make_shared<ProcessorOdom3D>(prc_odo_params, sen_odo);
diff --git a/src/processor_odom_3D.h b/src/processor_odom_3D.h
index f5ec56a73..cfd26737b 100644
--- a/src/processor_odom_3D.h
+++ b/src/processor_odom_3D.h
@@ -17,11 +17,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorOdom3D;
-typedef std::shared_ptr<ProcessorOdom3D> ProcessorOdom3DPtr;
-typedef std::shared_ptr<const ProcessorOdom3D> ProcessorOdom3DConstPtr;
-typedef std::weak_ptr<ProcessorOdom3D> ProcessorOdom3DWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorOdom3D);
struct ProcessorOdom3DParams : public ProcessorParamsBase
@@ -70,9 +66,9 @@ struct ProcessorOdom3DParams : public ProcessorParamsBase
class ProcessorOdom3D : public ProcessorMotion
{
public:
- ProcessorOdom3D(ProcessorOdom3DParams::Ptr _params = nullptr, SensorOdom3D::Ptr _sensor_ptr = nullptr);
+ ProcessorOdom3D(ProcessorOdom3DParams::Ptr _params = nullptr, SensorOdom3DPtr _sensor_ptr = nullptr);
virtual ~ProcessorOdom3D();
- void setup(SensorOdom3D::Ptr sen_ptr);
+ void setup(SensorOdom3DPtr sen_ptr);
public:
virtual void data2delta(const Eigen::VectorXs& _data,
diff --git a/src/processor_tracker.h b/src/processor_tracker.h
index 8259de2b1..fb1029d72 100644
--- a/src/processor_tracker.h
+++ b/src/processor_tracker.h
@@ -13,12 +13,7 @@
namespace wolf {
-//forward declaration to typedef class pointers
-class ProcessorTracker;
-typedef std::shared_ptr<ProcessorTracker> ProcessorTrackerPtr;
-typedef std::shared_ptr<const ProcessorTracker> ProcessorTrackerConstPtr;
-typedef std::weak_ptr<ProcessorTracker> ProcessorTrackerWPtr;
-
+WOLF_PTR_TYPEDEFS(ProcessorTracker);
struct ProcessorParamsTracker : public ProcessorParamsBase
{
diff --git a/src/processor_tracker_feature.h b/src/processor_tracker_feature.h
index c5cfb1c5d..032af6e3d 100644
--- a/src/processor_tracker_feature.h
+++ b/src/processor_tracker_feature.h
@@ -17,12 +17,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ProcessorTrackerFeature;
-typedef std::shared_ptr<ProcessorTrackerFeature> ProcessorTrackerFeaturePtr;
-typedef std::shared_ptr<const ProcessorTrackerFeature> ProcessorTrackerFeatureConstPtr;
-typedef std::weak_ptr<ProcessorTrackerFeature> ProcessorTrackerFeatureWPtr;
-
+WOLF_PTR_TYPEDEFS(ProcessorTrackerFeature);
/** \brief Feature tracker processor
*
diff --git a/src/processor_tracker_feature_corner.h b/src/processor_tracker_feature_corner.h
index 7dc7304b6..3c63a4827 100644
--- a/src/processor_tracker_feature_corner.h
+++ b/src/processor_tracker_feature_corner.h
@@ -29,11 +29,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ProcessorTrackerFeatureCorner;
-typedef std::shared_ptr<ProcessorTrackerFeatureCorner> ProcessorTrackerFeatureCornerPtr;
-typedef std::shared_ptr<const ProcessorTrackerFeatureCorner> ProcessorTrackerFeatureCornerConstPtr;
-typedef std::weak_ptr<ProcessorTrackerFeatureCorner> ProcessorTrackerFeatureCornerWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorTrackerFeatureCorner);
//some consts.. TODO: this tuning params should be grouped in a struct and passed to the class from ros node, at constructor level
diff --git a/src/processor_tracker_feature_dummy.h b/src/processor_tracker_feature_dummy.h
index 5a1900255..ee52ca5b1 100644
--- a/src/processor_tracker_feature_dummy.h
+++ b/src/processor_tracker_feature_dummy.h
@@ -15,11 +15,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ProcessorTrackerFeatureDummy;
-typedef std::shared_ptr<ProcessorTrackerFeatureDummy> ProcessorTrackerFeatureDummyPtr;
-typedef std::shared_ptr<const ProcessorTrackerFeatureDummy> ProcessorTrackerFeatureDummyConstPtr;
-typedef std::weak_ptr<ProcessorTrackerFeatureDummy> ProcessorTrackerFeatureDummyWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorTrackerFeatureDummy);
//Class
class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
diff --git a/src/processor_tracker_landmark.h b/src/processor_tracker_landmark.h
index de52a2b0e..2fc24f49d 100644
--- a/src/processor_tracker_landmark.h
+++ b/src/processor_tracker_landmark.h
@@ -16,11 +16,7 @@
namespace wolf
{
-//forward declaration to typedef class pointers
-class ProcessorTrackerLandmark;
-typedef std::shared_ptr<ProcessorTrackerLandmark> ProcessorTrackerLandmarkPtr;
-typedef std::shared_ptr<const ProcessorTrackerLandmark> ProcessorTrackerLandmarkConstPtr;
-typedef std::weak_ptr<ProcessorTrackerLandmark> ProcessorTrackerLandmarkWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmark);
/** \brief Landmark tracker processor
*
diff --git a/src/processor_tracker_landmark_corner.h b/src/processor_tracker_landmark_corner.h
index 57afb9d48..c4469f418 100644
--- a/src/processor_tracker_landmark_corner.h
+++ b/src/processor_tracker_landmark_corner.h
@@ -39,12 +39,7 @@ const Scalar min_features_ratio_th_ = 0.5;
struct ProcessorParamsLaser;
typedef std::shared_ptr<ProcessorParamsLaser> ProcessorParamsLaserPtr;
-//forward declaration to typedef class pointers
-class ProcessorTrackerLandmarkCorner;
-typedef std::shared_ptr<ProcessorTrackerLandmarkCorner> ProcessorTrackerLandmarkCornerPtr;
-typedef std::shared_ptr<const ProcessorTrackerLandmarkCorner> ProcessorTrackerLandmarkCornerConstPtr;
-typedef std::weak_ptr<ProcessorTrackerLandmarkCorner> ProcessorTrackerLandmarkCornerWPtr;
-
+WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmarkCorner);
struct ProcessorParamsLaser : public ProcessorParamsBase
{
diff --git a/src/processor_tracker_landmark_dummy.h b/src/processor_tracker_landmark_dummy.h
index 4e233ae06..4c8a2b8c8 100644
--- a/src/processor_tracker_landmark_dummy.h
+++ b/src/processor_tracker_landmark_dummy.h
@@ -12,13 +12,8 @@
namespace wolf
{
-
-//forward declaration to typedef class pointers
-class ProcessorTrackerLandmarkDummy;
-typedef std::shared_ptr<ProcessorTrackerLandmarkDummy> ProcessorTrackerLandmarkDummyPtr;
-typedef std::shared_ptr<const ProcessorTrackerLandmarkDummy> ProcessorTrackerLandmarkDummyConstPtr;
-typedef std::weak_ptr<ProcessorTrackerLandmarkDummy> ProcessorTrackerLandmarkDummyWPtr;
-
+
+WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmarkDummy);
class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
{
diff --git a/src/processor_tracker_landmark_polyline.h b/src/processor_tracker_landmark_polyline.h
index 3417b8fd8..11d74666a 100644
--- a/src/processor_tracker_landmark_polyline.h
+++ b/src/processor_tracker_landmark_polyline.h
@@ -40,12 +40,8 @@ typedef std::shared_ptr<LandmarkPolylineMatch> LandmarkPolylineMatchPtr;
struct ProcessorParamsPolyline;
typedef std::shared_ptr<ProcessorParamsPolyline> ProcessorParamsPolylinePtr;
-//forward declaration to typedef class pointers
-class ProcessorTrackerLandmarkPolyline;
-typedef std::shared_ptr<ProcessorTrackerLandmarkPolyline> ProcessorTrackerLandmarkPolylinePtr;
-typedef std::shared_ptr<const ProcessorTrackerLandmarkPolyline> ProcessorTrackerLandmarkPolylineConstPtr;
-typedef std::weak_ptr<ProcessorTrackerLandmarkPolyline> ProcessorTrackerLandmarkPolylineWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmarkPolyline);
// Match Feature - Landmark
@@ -99,9 +95,6 @@ struct ProcessorParamsPolyline : public ProcessorParamsBase
class ProcessorTrackerLandmarkPolyline : public ProcessorTrackerLandmark
{
- public:
- typedef std::shared_ptr<ProcessorTrackerLandmarkPolyline> Ptr;
-
private:
laserscanutils::LineFinderIterative line_finder_;
ProcessorParamsPolyline params_;
diff --git a/src/sensor_camera.h b/src/sensor_camera.h
index 051bf5730..7c61c98e2 100644
--- a/src/sensor_camera.h
+++ b/src/sensor_camera.h
@@ -17,14 +17,12 @@ struct IntrinsicsCamera : public IntrinsicsBase
Eigen::VectorXs distortion; ///< d = [d_1, d_2, d_3, ...] radial distortion coefficients
};
+WOLF_PTR_TYPEDEFS(SensorCamera);
+
/**Pin-hole camera sensor
*/
class SensorCamera : public SensorBase
{
- public:
- typedef std::shared_ptr<SensorCamera> Ptr;
- typedef std::weak_ptr<SensorCamera> WPtr;
-
public:
/** \brief Constructor with arguments
*
diff --git a/src/sensor_gps.h b/src/sensor_gps.h
index 95b9c56af..b36d09ae0 100644
--- a/src/sensor_gps.h
+++ b/src/sensor_gps.h
@@ -22,12 +22,10 @@ struct IntrinsicsGPS : public IntrinsicsBase
// add GPS parameters here
};
+WOLF_PTR_TYPEDEFS(SensorGPS);
+
class SensorGPS : public SensorBase
{
- public:
- typedef std::shared_ptr<SensorGPS> Ptr;
- typedef std::weak_ptr<SensorGPS> WPtr;
-
public:
//pointer to sensor position, orientation, bias, init vehicle position and orientation
SensorGPS(StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _bias_ptr, StateBlockPtr _map_position_ptr, StateBlockPtr _map_orientation_ptr);
diff --git a/src/sensor_gps_fix.h b/src/sensor_gps_fix.h
index a2dc9a012..9cb5583a0 100644
--- a/src/sensor_gps_fix.h
+++ b/src/sensor_gps_fix.h
@@ -17,6 +17,8 @@ struct IntrinsicsGPSFix : public IntrinsicsBase
// Empty -- it acts only as a typedef for IntrinsicsBase, but allows future extension with parameters
};
+WOLF_PTR_TYPEDEFS(SensorGPSFix);
+
class SensorGPSFix : public SensorBase
{
public:
diff --git a/src/sensor_imu.h b/src/sensor_imu.h
index cb78f919b..c81d1047d 100644
--- a/src/sensor_imu.h
+++ b/src/sensor_imu.h
@@ -11,6 +11,7 @@ struct IntrinsicsIMU : public IntrinsicsBase
// add IMU parameters here
};
+WOLF_PTR_TYPEDEFS(SensorIMU);
class SensorIMU : public SensorBase
{
diff --git a/src/sensor_laser_2D.cpp b/src/sensor_laser_2D.cpp
index c0e4a1f62..28b74f041 100644
--- a/src/sensor_laser_2D.cpp
+++ b/src/sensor_laser_2D.cpp
@@ -61,7 +61,7 @@ SensorBasePtr SensorLaser2D::create(const std::string& _unique_name, const Eigen
StateBlockPtr ori_ptr = std::make_shared<StateBlock>(_extrinsics_po.tail(1), true);
// cast intrinsics into derived type
IntrinsicsLaser2D::Ptr params = std::static_pointer_cast<IntrinsicsLaser2D>(_intrinsics);
- SensorLaser2D::Ptr sen = std::make_shared<SensorLaser2D>(pos_ptr, ori_ptr, params->scan_params);
+ SensorLaser2DPtr sen = std::make_shared<SensorLaser2D>(pos_ptr, ori_ptr, params->scan_params);
sen->setName(_unique_name);
return sen;
}
diff --git a/src/sensor_laser_2D.h b/src/sensor_laser_2D.h
index 5c6060624..65906be99 100644
--- a/src/sensor_laser_2D.h
+++ b/src/sensor_laser_2D.h
@@ -19,11 +19,10 @@ struct IntrinsicsLaser2D : public IntrinsicsBase
laserscanutils::LaserScanParams scan_params;
};
+WOLF_PTR_TYPEDEFS(SensorLaser2D);
class SensorLaser2D : public SensorBase
{
- public:
- typedef std::shared_ptr<SensorBase> Ptr;
protected:
laserscanutils::LaserScanParams scan_params_;
diff --git a/src/sensor_odom_2D.h b/src/sensor_odom_2D.h
index c148bf262..6cd2ad336 100644
--- a/src/sensor_odom_2D.h
+++ b/src/sensor_odom_2D.h
@@ -13,11 +13,10 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
Scalar k_rot_to_rot; ///< ratio of rotation variance to rotation, for odometry noise calculation
};
+WOLF_PTR_TYPEDEFS(SensorOdom2D);
+
class SensorOdom2D : public SensorBase
{
- public:
- typedef std::shared_ptr<SensorOdom2D> Ptr;
-
protected:
Scalar k_disp_to_disp_; ///< ratio of displacement variance to displacement, for odometry noise calculation
Scalar k_rot_to_rot_; ///< ratio of rotation variance to rotation, for odometry noise calculation
diff --git a/src/sensor_odom_3D.h b/src/sensor_odom_3D.h
index f77ce2359..50a7c357f 100644
--- a/src/sensor_odom_3D.h
+++ b/src/sensor_odom_3D.h
@@ -32,11 +32,10 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
{}
};
+WOLF_PTR_TYPEDEFS(SensorOdom3D);
+
class SensorOdom3D : public SensorBase
{
- public:
- typedef std::shared_ptr<SensorOdom3D> Ptr;
-
protected:
Scalar k_disp_to_disp_; ///< ratio of displacement variance to displacement, for odometry noise calculation
Scalar k_disp_to_rot_; ///< ratio of displacement variance to rotation, for odometry noise calculation
diff --git a/src/test/gtest_frame_base.cpp b/src/test/gtest_frame_base.cpp
index ef6e14c69..55432ae25 100644
--- a/src/test/gtest_frame_base.cpp
+++ b/src/test/gtest_frame_base.cpp
@@ -67,7 +67,7 @@ TEST(FrameBase, LinksToTree)
// Problem with 2 frames and one motion constraint between them
ProblemPtr P = Problem::create(FRM_PO_2D);
TrajectoryBasePtr T = P->getTrajectoryPtr();
- SensorOdom2D::Ptr S = make_shared<SensorOdom2D>(make_shared<StateBlock>(2), make_shared<StateBlock>(1), 1,1);
+ SensorOdom2DPtr S = make_shared<SensorOdom2D>(make_shared<StateBlock>(2), make_shared<StateBlock>(1), 1,1);
P->getHardwarePtr()->addSensor(S);
FrameBasePtr F1 = make_shared<FrameBase>(1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
T->addFrame(F1);
diff --git a/src/wolf.h b/src/wolf.h
index 28d259f64..01fca0638 100644
--- a/src/wolf.h
+++ b/src/wolf.h
@@ -195,131 +195,81 @@ typedef enum
// TYPEDEFS FOR POINTERS, LISTS AND ITERATORS IN THE WOLF TREE
/////////////////////////////////////////////////////////////////////////
-// - forwards for pointers
-class NodeBase;
-class Problem;
-class HardwareBase;
-class SensorBase;
-struct IntrinsicsBase;
-class ProcessorBase;
-class ProcessorMotion;
-struct ProcessorParamsBase;
-class TrajectoryBase;
-class FrameBase;
-class CaptureBase;
-class CaptureMotion;
-class FeatureBase;
-class ConstraintBase;
-class MapBase;
-class LandmarkBase;
-class StateBlock;
-class StateQuaternion;
-class LocalParametrizationBase;
+#define WOLF_PTR_TYPEDEFS(ClassName) \
+ class ClassName; \
+ typedef std::shared_ptr<ClassName> ClassName##Ptr; \
+ typedef std::shared_ptr<const ClassName> ClassName##ConstPtr; \
+ typedef std::weak_ptr<ClassName> ClassName##WPtr;
+
+#define WOLF_LIST_TYPEDEFS(ClassName) \
+ class ClassName; \
+ typedef std::list<ClassName##Ptr> ClassName##List; \
+ typedef ClassName##List::iterator ClassName##Iter;
+
// NodeBase
-typedef std::shared_ptr<NodeBase> NodeBasePtr;
-typedef std::shared_ptr<const NodeBase> NodeBaseConstPtr;
-typedef std::weak_ptr<NodeBase> NodeBaseWPtr;
+WOLF_PTR_TYPEDEFS(NodeBase);
// Problem
-typedef std::shared_ptr<Problem> ProblemPtr;
-typedef std::shared_ptr<const Problem> ProblemConstPtr;
-typedef std::weak_ptr<Problem> ProblemWPtr;
+WOLF_PTR_TYPEDEFS(Problem);
// Hardware
-typedef std::shared_ptr<HardwareBase> HardwareBasePtr;
-typedef std::shared_ptr<const HardwareBase> HardwareBaseConstPtr;
-typedef std::weak_ptr<HardwareBase> HardwareBaseWPtr;
+WOLF_PTR_TYPEDEFS(HardwareBase);
// - Sensors
-typedef std::shared_ptr<SensorBase> SensorBasePtr;
-typedef std::shared_ptr<const SensorBase> SensorBaseConstPtr;
-typedef std::weak_ptr<SensorBase> SensorBaseWPtr;
-typedef std::list<SensorBasePtr> SensorBaseList;
-typedef SensorBaseList::iterator SensorBaseIter;
+WOLF_PTR_TYPEDEFS(SensorBase);
+WOLF_LIST_TYPEDEFS(SensorBase);
// - - Intrinsics
+struct IntrinsicsBase;
typedef std::shared_ptr<IntrinsicsBase> IntrinsicsBasePtr;
typedef std::shared_ptr<const IntrinsicsBase> IntrinsicsBaseConstPtr;
// - Processors
-typedef std::shared_ptr<ProcessorBase> ProcessorBasePtr;
-typedef std::shared_ptr<const ProcessorBase> ProcessorBaseConstPtr;
-typedef std::weak_ptr<ProcessorBase> ProcessorBaseWPtr;
-typedef std::list<ProcessorBasePtr> ProcessorBaseList;
-typedef ProcessorBaseList::iterator ProcessorBaseIter;
+WOLF_PTR_TYPEDEFS(ProcessorBase);
+WOLF_LIST_TYPEDEFS(ProcessorBase);
// - ProcessorMotion
-typedef std::shared_ptr<ProcessorMotion> ProcessorMotionPtr;
-typedef std::shared_ptr<const ProcessorMotion> ProcessorMotionConstPtr;
-typedef std::weak_ptr<ProcessorMotion> ProcessorMotionWPtr;
+WOLF_PTR_TYPEDEFS(ProcessorMotion);
// - - Processor params
+struct ProcessorParamsBase;
typedef std::shared_ptr<ProcessorParamsBase> ProcessorParamsBasePtr;
typedef std::shared_ptr<const ProcessorParamsBase> ProcessorParamsBaseConstPtr;
// Trajectory
-typedef std::shared_ptr<TrajectoryBase> TrajectoryBasePtr;
-typedef std::shared_ptr<const TrajectoryBase> TrajectoryBaseConstPtr;
-typedef std::weak_ptr<TrajectoryBase> TrajectoryBaseWPtr;
+WOLF_PTR_TYPEDEFS(TrajectoryBase);
// - Frame
-typedef std::shared_ptr<FrameBase> FrameBasePtr;
-typedef std::shared_ptr<const FrameBase> FrameBaseConstPtr;
-typedef std::weak_ptr<FrameBase> FrameBaseWPtr;
-typedef std::list<FrameBasePtr> FrameBaseList;
-typedef FrameBaseList::iterator FrameBaseIter;
+WOLF_PTR_TYPEDEFS(FrameBase);
+WOLF_LIST_TYPEDEFS(FrameBase);
// - Capture
-typedef std::shared_ptr<CaptureBase> CaptureBasePtr;
-typedef std::shared_ptr<const CaptureBase> CaptureBaseConstPtr;
-typedef std::weak_ptr<CaptureBase> CaptureBaseWPtr;
-typedef std::list<CaptureBasePtr> CaptureBaseList;
-typedef CaptureBaseList::iterator CaptureBaseIter;
-
-// - CaptureMotion
-typedef std::shared_ptr<CaptureMotion> CaptureMotionPtr;
-typedef std::weak_ptr<CaptureMotion> CaptureMotionWPtr;
+WOLF_PTR_TYPEDEFS(CaptureBase);
+WOLF_LIST_TYPEDEFS(CaptureBase);
// - Feature
-typedef std::shared_ptr<FeatureBase> FeatureBasePtr;
-typedef std::shared_ptr<const FeatureBase> FeatureBaseConstPtr;
-typedef std::weak_ptr<FeatureBase> FeatureBaseWPtr;
-typedef std::list<FeatureBasePtr> FeatureBaseList;
-typedef FeatureBaseList::iterator FeatureBaseIter;
+WOLF_PTR_TYPEDEFS(FeatureBase);
+WOLF_LIST_TYPEDEFS(FeatureBase);
// - Constraint
-typedef std::shared_ptr<ConstraintBase> ConstraintBasePtr;
-typedef std::shared_ptr<const ConstraintBase> ConstraintBaseConstPtr;
-typedef std::weak_ptr<ConstraintBase> ConstraintBaseWPtr;
-typedef std::list<ConstraintBasePtr> ConstraintBaseList;
-typedef ConstraintBaseList::iterator ConstraintBaseIter;
+WOLF_PTR_TYPEDEFS(ConstraintBase);
+WOLF_LIST_TYPEDEFS(ConstraintBase);
// Map
-typedef std::shared_ptr<MapBase> MapBasePtr;
-typedef std::shared_ptr<const MapBase> MapBaseConstPtr;
-typedef std::weak_ptr<MapBase> MapBaseWPtr;
-typedef std::list<MapBasePtr> MapBaseList;
-typedef MapBaseList::iterator MapBaseIter;
+WOLF_PTR_TYPEDEFS(MapBase);
// - Landmark
-typedef std::shared_ptr<LandmarkBase> LandmarkBasePtr;
-typedef std::shared_ptr<const LandmarkBase> LandmarkBaseConstPtr;
-typedef std::weak_ptr<LandmarkBase> LandmarkBaseWPtr;
-typedef std::list<LandmarkBasePtr> LandmarkBaseList;
-typedef LandmarkBaseList::iterator LandmarkBaseIter;
+WOLF_PTR_TYPEDEFS(LandmarkBase);
+WOLF_LIST_TYPEDEFS(LandmarkBase);
// - - State blocks
-typedef std::shared_ptr<StateBlock> StateBlockPtr;
-typedef std::shared_ptr<const StateBlock> StateBlockConstPtr;
-typedef std::weak_ptr<StateBlock> StateBlockWPtr;
-typedef std::list<StateBlockPtr> StateBlockList;
-typedef StateBlockList::iterator StateBlockIter;
-typedef std::shared_ptr<StateQuaternion> StateQuaternionPtr;
+WOLF_PTR_TYPEDEFS(StateBlock);
+WOLF_LIST_TYPEDEFS(StateBlock);
+WOLF_PTR_TYPEDEFS(StateQuaternion);
// - - Local Parametrization
-typedef std::shared_ptr<LocalParametrizationBase> LocalParametrizationBasePtr;
-typedef std::shared_ptr<const LocalParametrizationBase> LocalParametrizationBaseConstPtr;
+WOLF_PTR_TYPEDEFS(LocalParametrizationBase);
// ==================================================
--
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