diff --git a/CMakeLists.txt b/CMakeLists.txt
index 412fec35e5a0bac263c8544b779222342219238f..425ffc64aa4de3b73b5e5ab57f9d3eacdb1812f6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -197,7 +197,7 @@ SET(HDRS_PROCESSOR
include/core/processor/motion_provider.h
include/core/processor/processor_base.h
include/core/processor/processor_diff_drive.h
- include/core/processor/processor_fix_wing_model.h
+ include/core/processor/processor_fixed_wing_model.h
include/core/processor/factory_processor.h
include/core/processor/processor_loop_closure.h
include/core/processor/processor_motion.h
@@ -305,7 +305,7 @@ SET(SRCS_PROCESSOR
src/processor/motion_provider.cpp
src/processor/processor_base.cpp
src/processor/processor_diff_drive.cpp
- src/processor/processor_fix_wing_model.cpp
+ src/processor/processor_fixed_wing_model.cpp
src/processor/processor_loop_closure.cpp
src/processor/processor_motion.cpp
src/processor/processor_odom_2d.cpp
diff --git a/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index 97c8ad6f3919c35744e824cde99d56c4d2b7e1b8..bccbc2317135376f7cf7dd1f70113fb933fc72b0 100644
--- a/include/core/processor/processor_fixed_wing_model.h
+++ b/include/core/processor/processor_fixed_wing_model.h
@@ -26,31 +26,31 @@
* Author: joanvallve
*/
-#ifndef INCLUDE_CORE_PROCESSOR_PROCESSOR_FIX_WING_MODEL_H_
-#define INCLUDE_CORE_PROCESSOR_PROCESSOR_FIX_WING_MODEL_H_
+#ifndef INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_
+#define INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_
#include "core/processor/processor_base.h"
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorFixWingModel);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorFixedWingModel);
-struct ParamsProcessorFixWingModel : public ParamsProcessorBase
+struct ParamsProcessorFixedWingModel : public ParamsProcessorBase
{
Eigen::Vector3d velocity_local;
double angle_stdev;
double min_vel_norm;
- ParamsProcessorFixWingModel() = default;
- ParamsProcessorFixWingModel(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorFixedWingModel() = default;
+ ParamsProcessorFixedWingModel(std::string _unique_name, const wolf::ParamsServer & _server) :
ParamsProcessorBase(_unique_name, _server)
{
velocity_local = _server.getParam<Eigen::Vector3d> (prefix + _unique_name + "/velocity_local");
angle_stdev = _server.getParam<double> (prefix + _unique_name + "/angle_stdev");
min_vel_norm = _server.getParam<double> (prefix + _unique_name + "/min_vel_norm");
- assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixWingModel: 'velocity_local' must be normalized");
+ assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixedWingModel: 'velocity_local' must be normalized");
}
std::string print() const override
{
@@ -61,17 +61,17 @@ struct ParamsProcessorFixWingModel : public ParamsProcessorBase
}
};
-WOLF_PTR_TYPEDEFS(ProcessorFixWingModel);
+WOLF_PTR_TYPEDEFS(ProcessorFixedWingModel);
-class ProcessorFixWingModel : public ProcessorBase
+class ProcessorFixedWingModel : public ProcessorBase
{
public:
- ProcessorFixWingModel(ParamsProcessorFixWingModelPtr _params);
+ ProcessorFixedWingModel(ParamsProcessorFixedWingModelPtr _params);
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorFixWingModel, ParamsProcessorFixWingModel);
+ WOLF_PROCESSOR_CREATE(ProcessorFixedWingModel, ParamsProcessorFixedWingModel);
- virtual ~ProcessorFixWingModel() override;
+ virtual ~ProcessorFixedWingModel() override;
void configure(SensorBasePtr _sensor) override;
protected:
@@ -105,9 +105,9 @@ class ProcessorFixWingModel : public ProcessorBase
virtual bool voteForKeyFrame() const override {return false;};
// ATTRIBUTES
- ParamsProcessorFixWingModelPtr params_processor_;
+ ParamsProcessorFixedWingModelPtr params_processor_;
};
} /* namespace wolf */
-#endif /* INCLUDE_CORE_PROCESSOR_PROCESSOR_FIX_WING_MODEL_H_ */
+#endif /* INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_ */
diff --git a/src/processor/processor_fixed_wing_model.cpp b/src/processor/processor_fixed_wing_model.cpp
index 4c75926cc84925fa827f580a2d126ac294651d4b..a994d8a3cef2b93dcf0e5897392a1e9cf8d1533d 100644
--- a/src/processor/processor_fixed_wing_model.cpp
+++ b/src/processor/processor_fixed_wing_model.cpp
@@ -26,7 +26,7 @@
* Author: joanvallve
*/
-#include "core/processor/processor_fix_wing_model.h"
+#include "../../include/core/processor/processor_fixed_wing_model.h"
#include "core/capture/capture_base.h"
#include "core/feature/feature_base.h"
@@ -35,22 +35,22 @@
namespace wolf
{
-ProcessorFixWingModel::ProcessorFixWingModel(ParamsProcessorFixWingModelPtr _params) :
- ProcessorBase("ProcessorFixWingModel", 3, _params),
+ProcessorFixedWingModel::ProcessorFixedWingModel(ParamsProcessorFixedWingModelPtr _params) :
+ ProcessorBase("ProcessorFixedWingModel", 3, _params),
params_processor_(_params)
{
}
-ProcessorFixWingModel::~ProcessorFixWingModel()
+ProcessorFixedWingModel::~ProcessorFixedWingModel()
{
}
-void ProcessorFixWingModel::configure(SensorBasePtr _sensor)
+void ProcessorFixedWingModel::configure(SensorBasePtr _sensor)
{
assert(_sensor->getProblem()->getFrameStructure().find('V') != std::string::npos && "Processor only works with problems with V");
}
-void ProcessorFixWingModel::processKeyFrame(FrameBasePtr _keyframe_ptr)
+void ProcessorFixedWingModel::processKeyFrame(FrameBasePtr _keyframe_ptr)
{
if (_keyframe_ptr->getV()->isFixed())
return;
@@ -81,7 +81,7 @@ void ProcessorFixWingModel::processKeyFrame(FrameBasePtr _keyframe_ptr)
// Register in the FactoryProcessor
#include "core/processor/factory_processor.h"
namespace wolf {
-WOLF_REGISTER_PROCESSOR(ProcessorFixWingModel);
-WOLF_REGISTER_PROCESSOR_AUTO(ProcessorFixWingModel);
+WOLF_REGISTER_PROCESSOR(ProcessorFixedWingModel);
+WOLF_REGISTER_PROCESSOR_AUTO(ProcessorFixedWingModel);
} // namespace wolf
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index b0396e22fd240af38382d5bcfcd058e691c1116b..f701d0fc720efe8a899d200dae7ef0798c2abf0b 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -225,11 +225,11 @@ target_link_libraries(gtest_map_yaml ${PLUGIN_NAME})
wolf_add_gtest(gtest_param_prior gtest_param_prior.cpp)
target_link_libraries(gtest_param_prior ${PLUGIN_NAME})
-# ProcessorDiffDriveSelfcalib class test
-wolf_add_gtest(gtest_processor_fix_wing_model gtest_processor_fix_wing_model.cpp)
-target_link_libraries(gtest_processor_fix_wing_model ${PLUGIN_NAME})
+# ProcessorFixedWingModel class test
+wolf_add_gtest(gtest_processor_fixed_wing_model gtest_processor_fixed_wing_model.cpp)
+target_link_libraries(gtest_processor_fixed_wing_model ${PLUGIN_NAME})
-# ProcessorFixWingModel class test
+# ProcessorDiffDrive class test
wolf_add_gtest(gtest_processor_diff_drive gtest_processor_diff_drive.cpp)
target_link_libraries(gtest_processor_diff_drive ${PLUGIN_NAME})
diff --git a/test/gtest_processor_fixed_wing_model.cpp b/test/gtest_processor_fixed_wing_model.cpp
index 41eaed71fd6bb47d2353bb6818349daad0aae326..b2bcb1990ccd266756c7f106478b79aadff3cc88 100644
--- a/test/gtest_processor_fixed_wing_model.cpp
+++ b/test/gtest_processor_fixed_wing_model.cpp
@@ -23,12 +23,12 @@
#include "core/utils/utils_gtest.h"
#include "core/problem/problem.h"
#include "core/ceres_wrapper/solver_ceres.h"
-#include "core/processor/processor_fix_wing_model.h"
#include "core/state_block/state_quaternion.h"
// STL
#include <iterator>
#include <iostream>
+#include "../include/core/processor/processor_fixed_wing_model.h"
using namespace wolf;
using namespace Eigen;
@@ -58,11 +58,11 @@ class ProcessorFixWingModelTest : public testing::Test
2);
// Emplace processor
- ParamsProcessorFixWingModelPtr params = std::make_shared<ParamsProcessorFixWingModel>();
+ ParamsProcessorFixedWingModelPtr params = std::make_shared<ParamsProcessorFixedWingModel>();
params->velocity_local = (Vector3d() << 1, 0, 0).finished();
params->angle_stdev = 0.1;
params->min_vel_norm = 0;
- processor = ProcessorBase::emplace<ProcessorFixWingModel>(sensor, params);
+ processor = ProcessorBase::emplace<ProcessorFixedWingModel>(sensor, params);
}
FrameBasePtr emplaceFrame(TimeStamp ts, const Vector10d& x)