diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index ae1d3cc3d0fc2b860a66f7f0a1e454caaadd7b47..d12fa8b159203afac4067e7c87dc12f4857c58cc 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -100,8 +100,7 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
}
ProcessorBasePtr ProcessorRangeBearing::create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params,
- const SensorBasePtr _sen_ptr)
+ const ProcessorParamsBasePtr _params)
{
auto params = std::static_pointer_cast<ProcessorParamsRangeBearing>(_params);
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index b5337425f2d98a77ea3fee10fd329c5d5609dd3c..4752972086b1473dc33b2bc382773b2f45b051e0 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -51,9 +51,8 @@ class ProcessorRangeBearing : public ProcessorBase
// Factory method for high level API
static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params,
- const SensorBasePtr sensor_ptr = nullptr);
- WOLF_CREATE_PROCESSOR_AUTO(ProcessorRangeBearing, ProcessorParamsRangeBearing, SensorRangeBearing);
+ const ProcessorParamsBasePtr _params);
+ WOLF_CREATE_PROCESSOR_AUTO(ProcessorRangeBearing, ProcessorParamsRangeBearing);
protected:
// Implementation of pure virtuals from ProcessorBase
diff --git a/include/core/processor/autoconf_processor_factory.h b/include/core/processor/autoconf_processor_factory.h
index 051b8d8578544f0fb4c195e5e591064b6b6f116f..418f488f9587388361dbfab8d015ad458732454e 100644
--- a/include/core/processor/autoconf_processor_factory.h
+++ b/include/core/processor/autoconf_processor_factory.h
@@ -167,8 +167,7 @@ namespace wolf
typedef Factory<ProcessorBase,
const std::string&,
- const ParamsServer&,
- const SensorBasePtr> AutoConfProcessorFactory;
+ const ParamsServer&> AutoConfProcessorFactory;
template<>
inline std::string AutoConfProcessorFactory::getClass()
{
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 6d0159f7e695ca3f5d09628a5b78b3df553bd004..c940dbf5ffdeed1995138be4e015304b52bc6ec1 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -30,10 +30,9 @@ namespace wolf {
*
* ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsClassPtr _params);
*/
-#define WOLF_CREATE_PROCESSOR_AUTO(ProcessorClass, ProcessorParamsClass, SensorClass) \
+#define WOLF_CREATE_PROCESSOR_AUTO(ProcessorClass, ProcessorParamsClass) \
static ProcessorBasePtr createAutoConf(const std::string& _unique_name, \
- const ParamsServer& _server, \
- const SensorBasePtr _sensor) \
+ const ParamsServer& _server) \
{ \
auto params = std::make_shared<ProcessorParamsClass>(_unique_name, _server); \
\
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index d1ffd344f06c5788382236eb83b4aaa76167f144..44496732262e024669c7592e51a3fdf7d5cc2277 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -34,8 +34,8 @@ class ProcessorDiffDrive : public ProcessorOdom2D
{
public:
ProcessorDiffDrive(ProcessorParamsDiffDrivePtr _params_motion);
- static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
+ static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
virtual ~ProcessorDiffDrive();
protected:
diff --git a/include/core/processor/processor_factory.h b/include/core/processor/processor_factory.h
index 8b2fdb2472b99a6eb1271e63e0196a3f0459e699..4b305a83b944b371a36f151175d4d7ef63633d42 100644
--- a/include/core/processor/processor_factory.h
+++ b/include/core/processor/processor_factory.h
@@ -167,8 +167,7 @@ namespace wolf
typedef Factory<ProcessorBase,
const std::string&,
- const ProcessorParamsBasePtr,
- const SensorBasePtr> ProcessorFactory;
+ const ProcessorParamsBasePtr> ProcessorFactory;
template<>
inline std::string ProcessorFactory::getClass()
{
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index de53f9fb400df6098785d144d11a9210dab9ebda..7edf655b449898c4744fca827a612ef6bd544461 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -94,8 +94,8 @@ class ProcessorOdom2D : public ProcessorMotion
// Factory method
public:
- static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
+ static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
};
inline Eigen::VectorXs ProcessorOdom2D::deltaZero() const
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index 7eab40c33609139afab9e59301c816400bdea95f..35e559a3de2454664d82d932f9fb8ec7474c4d97 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -129,8 +129,7 @@ class ProcessorOdom3D : public ProcessorMotion
// Factory method
public:
static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params,
- const SensorBasePtr sensor_ptr = nullptr);
+ const ProcessorParamsBasePtr _params);
};
inline Eigen::VectorXs ProcessorOdom3D::deltaZero() const
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 9796de853c787ec17f31ab3384e9ab32e1b9837c..f330c67941257173e480400c7e5c8b7ddc6be149 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -177,7 +177,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
return ProcessorBasePtr();
}
- ProcessorBasePtr prc_ptr = ProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _prc_params, _corresponding_sensor_ptr);
+ ProcessorBasePtr prc_ptr = ProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _prc_params);
prc_ptr->configure(_corresponding_sensor_ptr);
prc_ptr->link(_corresponding_sensor_ptr);
@@ -218,7 +218,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, in must match in sensor and processor!");
- ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _server, sen_ptr);
+ ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _server);
prc_ptr->configure(sen_ptr);
prc_ptr->link(sen_ptr);
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 9552b46457d8e517eea02371a2315592a4ce0c42..f57e54a1d794e360b883116c860478a96360ed35 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -31,18 +31,18 @@ ProcessorDiffDrive::~ProcessorDiffDrive()
//
}
-ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr)
+ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
- ProcessorDiffDrivePtr prc_ptr;
+// ProcessorDiffDrivePtr prc_ptr;
- std::shared_ptr<ProcessorParamsDiffDrive> params;
- if (_params)
- params = std::static_pointer_cast<ProcessorParamsDiffDrive>(_params);
- else
- params = std::make_shared<ProcessorParamsDiffDrive>();
+// std::shared_ptr<ProcessorParamsDiffDrive> params;
+// if (_params)
+ auto params = std::static_pointer_cast<ProcessorParamsDiffDrive>(_params);
+// else
+// params = std::make_shared<ProcessorParamsDiffDrive>();
- prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
+ auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
prc_ptr->setName(_unique_name);
return prc_ptr;
@@ -185,7 +185,7 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
///////////// FACTORIES ///////////////
-ProcessorBasePtr ProcessorDiffDrive::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorDiffDrive::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
{
auto params = std::make_shared<ProcessorParamsDiffDrive>(_unique_name, _server);
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index 9253e23c08ca3b12e296c7c92a825f93ce6ee599..f3835649389f02583605c1290f17cbe081583fa0 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -167,28 +167,23 @@ FeatureBasePtr ProcessorOdom2D::emplaceFeature(CaptureMotionPtr _capture_motion)
return key_feature_ptr;
}
-ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr)
+ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
+ auto params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
- ProcessorOdom2DPtr prc_ptr;
-
- std::shared_ptr<ProcessorParamsOdom2D> params;
- if (_params)
- params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
- else
- params = std::make_shared<ProcessorParamsOdom2D>();
+ auto prc_ptr = std::make_shared<ProcessorOdom2D>(params);
- prc_ptr = std::make_shared<ProcessorOdom2D>(params);
prc_ptr->setName(_unique_name);
return prc_ptr;
}
-ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
{
auto params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server);
auto prc_ptr = std::make_shared<ProcessorOdom2D>(params);
+
prc_ptr->setName(_unique_name);
return prc_ptr;
diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp
index 6d60447c261f6244f4bcf7adf38d469a326ef56d..e519b9470cf857e050b4afe8a5af52f66cfba017 100644
--- a/src/processor/processor_odom_3D.cpp
+++ b/src/processor/processor_odom_3D.cpp
@@ -333,7 +333,7 @@ Motion ProcessorOdom3D::interpolate(const Motion& _ref1,
}
-ProcessorBasePtr ProcessorOdom3D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr _sen_ptr)
+ProcessorBasePtr ProcessorOdom3D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
// cast inputs to the correct type
auto params = std::static_pointer_cast<ProcessorParamsOdom3D>(_params);
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 0222ebb5f8cb91bea365c0d3c8249c4392c4a248..d11dcf09f36616d0379945a0bea78a3ad1769b98 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -93,16 +93,16 @@ FactorBasePtr ProcessorTrackerFeatureDummy::emplaceFactor(FeatureBasePtr _featur
}
ProcessorBasePtr ProcessorTrackerFeatureDummy::create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params,
- const SensorBasePtr)
+ const ProcessorParamsBasePtr _params)
{
- ProcessorParamsTrackerFeatureDummyPtr params = std::static_pointer_cast<ProcessorParamsTrackerFeatureDummy>(_params);
+ auto params = std::static_pointer_cast<ProcessorParamsTrackerFeatureDummy>(_params);
// if cast failed use default value
if (params == nullptr)
params = std::make_shared<ProcessorParamsTrackerFeatureDummy>();
- ProcessorTrackerFeatureDummyPtr prc_ptr = std::make_shared<ProcessorTrackerFeatureDummy>(params);
+ auto prc_ptr = std::make_shared<ProcessorTrackerFeatureDummy>(params);
+
prc_ptr->setName(_unique_name);
return prc_ptr;
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index d4f6dfbcde8fda17e75806ae9b4353afd27497bd..4ba333dfb0bb9ee6009a70781f223efccb316ec6 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -105,8 +105,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
public:
static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params,
- const SensorBasePtr sensor_ptr = nullptr);
+ const ProcessorParamsBasePtr _params);
};
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 3c286eb2e2633e54213f0b518d9cbd5694e3205f..31c8dd77ae9ac1df078b4218c3ea2d389757aa42 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -205,6 +205,7 @@ TEST(Odom2D, VoteForKfAndSolve)
ProcessorBasePtr prc_base = problem->installProcessor("ODOM 2D", "odom", sensor_odom2d, params);
ProcessorOdom2DPtr processor_odom2d = std::static_pointer_cast<ProcessorOdom2D>(prc_base);
+
// NOTE: We integrate and create KFs as follows:
// i= 0 1 2 3 4 5 6
// KF -- * -- * -- KF - * -- * -- KF - *
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index f021ba4248e88e85353354abbb52cdee33de7ef0..46f3a9e3299a8074747a4d07d6e9add8fc49e249 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -167,7 +167,7 @@ TEST(ProcessorDiffDrive, create)
auto params = std::make_shared<ProcessorParamsDiffDrive>();
// processor
- auto prc_base = ProcessorDiffDrive::create("prc", params, sen);
+ auto prc_base = ProcessorDiffDrive::create("prc", params);
auto prc = std::static_pointer_cast<ProcessorDiffDrive>(prc_base);