From 229516a28377c5cf1505935a160f33ad00d996bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Fri, 8 Feb 2019 16:13:27 +0100
Subject: [PATCH] updated to new function names
---
src/sensor_base.h | 13 +------------
src/test/gtest_param_prior.cpp | 10 +++++-----
2 files changed, 6 insertions(+), 17 deletions(-)
diff --git a/src/sensor_base.h b/src/sensor_base.h
index 8801f2f05..5967ecc51 100644
--- a/src/sensor_base.h
+++ b/src/sensor_base.h
@@ -143,18 +143,13 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
/** \brief Add an absolute constraint to a parameter
*
* Add an absolute constraint to a parameter
- * \param _sb state block of the parameter to be constrained
+ * \param _i state block index (in state_block_vec_) of the parameter to be constrained
* \param _x prior value
* \param _cov covariance
* \param _start_idx state segment starting index (not used in quaternions)
* \param _size state segment size (-1: whole state) (not used in quaternions)
*
**/
- void addPriorParameter(const StateBlockPtr& _sb,
- const Eigen::VectorXs& _x,
- const Eigen::MatrixXs& _cov,
- unsigned int _start_idx = 0,
- int _size = -1);
void addPriorParameter(const unsigned int _i,
const Eigen::VectorXs& _x,
const Eigen::MatrixXs& _cov,
@@ -292,12 +287,6 @@ inline void SensorBase::setHardwarePtr(const HardwareBasePtr _hw_ptr)
hardware_ptr_ = _hw_ptr;
}
-inline void SensorBase::addPriorParameter(const unsigned int _i, const Eigen::VectorXs& _x, const Eigen::MatrixXs& _cov,
- unsigned int _start_idx, int _size)
-{
- addPriorParameter(getStateBlockPtrStatic(_i), _x, _cov, _start_idx, _size);
-}
-
inline void SensorBase::addPriorP(const Eigen::VectorXs& _x, const Eigen::MatrixXs& _cov, unsigned int _start_idx, int _size)
{
addPriorParameter(0, _x, _cov, _start_idx, _size);
diff --git a/src/test/gtest_param_prior.cpp b/src/test/gtest_param_prior.cpp
index 830660489..0048fa2ef 100644
--- a/src/test/gtest_param_prior.cpp
+++ b/src/test/gtest_param_prior.cpp
@@ -35,7 +35,7 @@ TEST(ParameterPrior, initial_extrinsics)
TEST(ParameterPrior, prior_p)
{
- odom_sensor_ptr_->addParameterPrior(odom_sensor_ptr_->getPPtr(), prior_extrinsics.head(3),Eigen::Matrix3s::Identity());
+ odom_sensor_ptr_->addPriorP(prior_extrinsics.head(3),Eigen::Matrix3s::Identity());
std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::BRIEF);
@@ -44,7 +44,7 @@ TEST(ParameterPrior, prior_p)
TEST(ParameterPrior, prior_o)
{
- odom_sensor_ptr_->addParameterPrior(odom_sensor_ptr_->getOPtr(), prior_extrinsics.tail(4),Eigen::Matrix3s::Identity());
+ odom_sensor_ptr_->addPriorO(prior_extrinsics.tail(4),Eigen::Matrix3s::Identity());
std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::BRIEF);
@@ -53,7 +53,7 @@ TEST(ParameterPrior, prior_o)
TEST(ParameterPrior, prior_p_overwrite)
{
- odom_sensor_ptr_->addParameterPrior(odom_sensor_ptr_->getPPtr(), prior2_extrinsics.head(3),Eigen::Matrix3s::Identity());
+ odom_sensor_ptr_->addPriorP(prior2_extrinsics.head(3),Eigen::Matrix3s::Identity());
std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::BRIEF);
@@ -62,7 +62,7 @@ TEST(ParameterPrior, prior_p_overwrite)
TEST(ParameterPrior, prior_p_segment)
{
- odom_sensor_ptr_->addParameterPrior(odom_sensor_ptr_->getPPtr(), prior_extrinsics.segment(1,2),Eigen::Matrix2s::Identity(),1,2);
+ odom_sensor_ptr_->addPriorP(prior_extrinsics.segment(1,2),Eigen::Matrix2s::Identity(),1,2);
std::string report = ceres_mgr_ptr->solve(SolverManager::ReportVerbosity::BRIEF);
@@ -72,7 +72,7 @@ TEST(ParameterPrior, prior_p_segment)
TEST(ParameterPrior, prior_o_segment)
{
// constraining segment of quaternion is not allowed
- ASSERT_DEATH(odom_sensor_ptr_->addParameterPrior(odom_sensor_ptr_->getOPtr(), prior_extrinsics.segment(1,2),Eigen::Matrix2s::Identity(),1,2),"");
+ ASSERT_DEATH(odom_sensor_ptr_->addPriorParameter(1, prior_extrinsics.segment(1,2),Eigen::Matrix2s::Identity(),1,2),"");
}
--
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