Skip to content
Snippets Groups Projects
Commit 24156ce3 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Use factory keys as for new definition, equal to class name

parent 71c030ac
No related branches found
No related tags found
1 merge request!323Resolve "New data structure for storing stateblocks"
Pipeline #4706 passed
......@@ -112,7 +112,7 @@ int main()
// sensor odometer 2D
IntrinsicsOdom2DPtr intrinsics_odo = std::make_shared<IntrinsicsOdom2D>();
SensorBasePtr sensor_odo = problem->installSensor("ODOM 2D", "sensor odo", Vector3s(0,0,0), intrinsics_odo);
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2D", "sensor odo", Vector3s(0,0,0), intrinsics_odo);
// processor odometer 2D
ProcessorParamsOdom2DPtr params_odo = std::make_shared<ProcessorParamsOdom2D>();
......@@ -123,19 +123,19 @@ int main()
params_odo->angle_turned = 999;
params_odo->cov_det = 999;
params_odo->unmeasured_perturbation_std = 0.001;
ProcessorBasePtr processor = problem->installProcessor("ODOM 2D", "processor odo", sensor_odo, params_odo);
ProcessorBasePtr processor = problem->installProcessor("ProcessorOdom2D", "processor odo", sensor_odo, params_odo);
// sensor Range and Bearing
IntrinsicsRangeBearingPtr intrinsics_rb = std::make_shared<IntrinsicsRangeBearing>();
intrinsics_rb->noise_range_metres_std = 0.1;
intrinsics_rb->noise_bearing_degrees_std = 1.0;
SensorBasePtr sensor_rb = problem->installSensor("RANGE BEARING", "sensor RB", Vector3s(1,1,0), intrinsics_rb);
SensorBasePtr sensor_rb = problem->installSensor("SensorRangeBearing", "sensor RB", Vector3s(1,1,0), intrinsics_rb);
// processor Range and Bearing
ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
params_rb->voting_active = false;
params_rb->time_tolerance = 0.01;
ProcessorBasePtr processor_rb = problem->installProcessor("RANGE BEARING", "processor RB", sensor_rb, params_rb);
ProcessorBasePtr processor_rb = problem->installProcessor("ProcessorRangeBearing", "processor RB", sensor_rb, params_rb);
// initialize
TimeStamp t(0.0); // t : 0.0
......
......@@ -163,7 +163,7 @@ bool ProcessorRangeBearing::storeCapture(CaptureBasePtr _cap_ptr)
#include "core/processor/processor_factory.h"
namespace wolf
{
WOLF_REGISTER_PROCESSOR("RANGE BEARING", ProcessorRangeBearing)
WOLF_REGISTER_PROCESSOR_AUTO("RANGE BEARING", ProcessorRangeBearing)
WOLF_REGISTER_PROCESSOR("ProcessorRangeBearing", ProcessorRangeBearing)
WOLF_REGISTER_PROCESSOR_AUTO("ProcessorRangeBearing", ProcessorRangeBearing)
} // namespace wolf
......@@ -41,6 +41,6 @@ SensorRangeBearing::~SensorRangeBearing()
#include "core/sensor/sensor_factory.h"
namespace wolf
{
WOLF_REGISTER_SENSOR("RANGE BEARING", SensorRangeBearing)
WOLF_REGISTER_SENSOR_AUTO("RANGE BEARING", SensorRangeBearing)
WOLF_REGISTER_SENSOR("SensorRangeBearing", SensorRangeBearing)
WOLF_REGISTER_SENSOR_AUTO("SensorRangeBearing", SensorRangeBearing)
} // namespace wolf
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment