Merge branch 'processor_params' into 'master'

Processor params

See merge request mobile_robotics/wolf!191

src/processor_IMU.cpp

@@ -8,13 +8,14 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) :
         max_time_span_  (_params.max_time_span   ),
         max_buff_length_(_params.max_buff_length ),
         dist_traveled_  (_params.dist_traveled   ),
-        angle_turned_   (_params.angle_turned    ),
-        voting_active_  (_params.voting_active   )
+        angle_turned_   (_params.angle_turned    )
 {
     // Set constant parts of Jacobians
     jacobian_delta_preint_.setIdentity(9,9);                                    // dDp'/dDp, dDv'/dDv, all zeros
     jacobian_delta_.setIdentity(9,9);                                           //
     jacobian_calib_.setZero(9,6);
+
+    setVotingActive(_params.voting_active );
 }
 
 ProcessorIMU::~ProcessorIMU()
@@ -44,7 +45,7 @@ ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const Pro
 
 bool ProcessorIMU::voteForKeyFrame()
 {
-    if(!voting_active_)
+    if(!isVotingActive())
         return false;
     // time span
     if (getBuffer().get().back().ts_ - getBuffer().get().front().ts_ > max_time_span_)

src/processor_IMU.h

@@ -16,7 +16,6 @@ struct ProcessorParamsIMU : public ProcessorParamsBase
         Size   max_buff_length  = 10;
         Scalar dist_traveled    = 5;
         Scalar angle_turned     = 0.5;
-        bool voting_active      = false; //IMU will not vote for key Frames to be created
 };
 
 WOLF_PTR_TYPEDEFS(ProcessorIMU);
@@ -70,7 +69,6 @@ class ProcessorIMU : public ProcessorMotion{
         Size   max_buff_length_;// maximum buffer size before keyframe
         Scalar dist_traveled_;  // maximum linear motion between keyframes
         Scalar angle_turned_;   // maximum rotation between keyframes
-        bool voting_active_;    // IMU will be voting for KeyFrame only if this is true
 
 
     public:

src/processor_base.cpp

@@ -12,7 +12,8 @@ ProcessorBase::ProcessorBase(const std::string& _type, const Scalar& _time_toler
         processor_id_(++processor_id_count_),
         time_tolerance_(_time_tolerance),
         sensor_ptr_(),
-        is_removing_(false)
+        is_removing_(false),
+        voting_active_(true)
 {
 //    WOLF_DEBUG("constructed    +p" , id());
 }
@@ -24,7 +25,7 @@ ProcessorBase::~ProcessorBase()
 
 bool ProcessorBase::permittedKeyFrame()
 {
-    return getProblem()->permitKeyFrame(shared_from_this());
+    return isVotingActive() && getProblem()->permitKeyFrame(shared_from_this());
 }
 
 FrameBasePtr ProcessorBase::emplaceFrame(FrameType _type, CaptureBasePtr _capture_ptr)

src/processor_base.h

@@ -111,6 +111,7 @@ struct ProcessorParamsBase
     std::string type;
     std::string name;
     Scalar time_tolerance; ///< maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe.
+    bool voting_active;
 };
 
 //class ProcessorBase
@@ -125,6 +126,8 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
         SensorBaseWPtr sensor_ptr_;
 
         bool is_removing_; ///< A flag for safely removing nodes from the Wolf tree. See remove().
+        bool voting_active_; ///< A flag for allowing the processor to vote for KF or not.
+
         static unsigned int processor_id_count_;
 
     public:
@@ -176,8 +179,21 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
         void setTimeTolerance(Scalar _time_tolerance);
 
+        bool isVotingActive() const;
+
+        void setVotingActive(bool _voting_active = true);
 };
 
+inline bool ProcessorBase::isVotingActive() const
+{
+    return voting_active_;
+}
+
+inline void ProcessorBase::setVotingActive(bool _voting_active)
+{
+    voting_active_ = _voting_active;
+}
+
 }
 
 #include "sensor_base.h"

src/processors/processor_diff_drive.cpp

@@ -13,7 +13,7 @@ namespace wolf
 {
 
 ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive &params) :
-  ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 3, 0.15),
+  ProcessorMotion("DIFF DRIVE", 0.15, 3, 3, 3, 2, 3),
   unmeasured_perturbation_cov_(Matrix3s::Identity()*
                                params.unmeasured_perturbation_std_*
                                params.unmeasured_perturbation_std_),