Make redians_per_tick_ a non-user parameter

include/core/sensor/sensor_diff_drive.h

@@ -22,8 +22,6 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
         Scalar wheel_separation;
         Scalar ticks_per_wheel_revolution;
 
-        Scalar radians_per_tick; ///< Not user-definable -- DO NOT PRETEND TO USE YAML TO SET THIS PARAM.
-
 
         IntrinsicsDiffDrive() = default;
         IntrinsicsDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
@@ -33,17 +31,14 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
             radius_right                = _server.getParam<Scalar>(_unique_name + "/radius_right");
             wheel_separation            = _server.getParam<Scalar>(_unique_name + "/wheel_separation");
             ticks_per_wheel_revolution  = _server.getParam<Scalar>(_unique_name + "/ticks_per_wheel_revolution");
-            radians_per_tick            = 2.0 * M_PI / ticks_per_wheel_revolution;
         }
-        std::string print()
         std::string print() const
         {
             return "\n" + IntrinsicsBase::print()                                           + "\n"
             + "radius_left: "                   + std::to_string(radius_left)               + "\n"
             + "radius_right: "                  + std::to_string(radius_right)              + "\n"
             + "wheel_separation: "              + std::to_string(wheel_separation)          + "\n"
-            + "ticks_per_wheel_revolution: "    + std::to_string(ticks_per_wheel_revolution)+ "\n"
-            + "radians_per_tick: "              + std::to_string(radians_per_tick)          + "\n";
+            + "ticks_per_wheel_revolution: "    + std::to_string(ticks_per_wheel_revolution)+ "\n";
         }
 
 };
@@ -59,8 +54,15 @@ class SensorDiffDrive : public SensorBase
         virtual ~SensorDiffDrive();
         IntrinsicsDiffDriveConstPtr getParams() const {return params_diff_drive_;}
 
+        Scalar getRadiansPerTick() const
+        {
+            return radians_per_tick;
+        }
+
     protected:
         IntrinsicsDiffDrivePtr params_diff_drive_;
+        Scalar radians_per_tick; ///< Not user-definable -- DO NOT PRETEND TO USE YAML TO SET THIS PARAM.
+
 };
 
 } /* namespace wolf */

src/processor/processor_diff_drive.cpp

@@ -38,7 +38,7 @@ void ProcessorDiffDrive::configure(SensorBasePtr _sensor)
 
     SensorDiffDriveConstPtr sensor_diff_drive = std::static_pointer_cast<SensorDiffDrive>(_sensor);
 
-    radians_per_tick_ = sensor_diff_drive->getParams()->radians_per_tick;
+    radians_per_tick_ = sensor_diff_drive->getRadiansPerTick();
 }
 
 

src/sensor/sensor_diff_drive.cpp

@@ -20,7 +20,7 @@ SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXs& _extrinsics,
                                                                       2),
                                                                       params_diff_drive_(_intrinsics)
 {
-    params_diff_drive_->radians_per_tick = 2.0*M_PI / params_diff_drive_->ticks_per_wheel_revolution;
+    radians_per_tick = 2.0*M_PI / params_diff_drive_->ticks_per_wheel_revolution;
     getIntrinsic()->setState(Eigen::Vector3s(_intrinsics->radius_left,_intrinsics->radius_right,_intrinsics->wheel_separation));
     getIntrinsic()->unfix();
 }

test/gtest_sensor_diff_drive.cpp

@@ -30,7 +30,6 @@ TEST(DiffDrive, constructor)
 TEST(DiffDrive, getParams)
 {
     auto intr = std::make_shared<IntrinsicsDiffDrive>();
-    intr->radians_per_tick = 1;
     intr->radius_left = 2;
     intr->radius_right = 3;
     intr->ticks_per_wheel_revolution = 4;
@@ -42,7 +41,7 @@ TEST(DiffDrive, getParams)
 
     ASSERT_NE(sen->getParams(), nullptr);
 
-    ASSERT_EQ(sen->getParams()->radians_per_tick, 2.0*M_PI/intr->ticks_per_wheel_revolution); // this is dependent on 'ticks_per_wheel_revolution'
+    ASSERT_EQ(sen->getRadiansPerTick(), 2.0*M_PI/intr->ticks_per_wheel_revolution); // this is dependent on 'ticks_per_wheel_revolution'
     ASSERT_EQ(sen->getParams()->radius_left, 2);
     ASSERT_EQ(sen->getParams()->radius_right, 3);
     ASSERT_EQ(sen->getParams()->ticks_per_wheel_revolution, 4);
@@ -52,7 +51,6 @@ TEST(DiffDrive, getParams)
 TEST(DiffDrive, create)
 {
     auto intr = std::make_shared<IntrinsicsDiffDrive>();
-    intr->radians_per_tick = 1;
     intr->radius_left = 2;
     intr->radius_right = 3;
     intr->ticks_per_wheel_revolution = 4;
@@ -66,7 +64,7 @@ TEST(DiffDrive, create)
 
     ASSERT_NE(sen->getParams(), nullptr);
 
-    ASSERT_EQ(sen->getParams()->radians_per_tick, 2.0*M_PI/intr->ticks_per_wheel_revolution); // this is dependent on 'ticks_per_wheel_revolution'
+    ASSERT_EQ(sen->getRadiansPerTick(), 2.0*M_PI/intr->ticks_per_wheel_revolution); // this is dependent on 'ticks_per_wheel_revolution'
     ASSERT_EQ(sen->getParams()->radius_left, 2);
     ASSERT_EQ(sen->getParams()->radius_right, 3);
     ASSERT_EQ(sen->getParams()->ticks_per_wheel_revolution, 4);