From 3b536be2da52891751f3b3493d26f0fb80018e95 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu> Date: Thu, 8 Mar 2018 21:38:27 +0100 Subject: [PATCH] Fix one time_tolerance in PrcTrkLmkDummy --- src/examples/test_kf_callback.cpp | 2 +- src/examples/test_processor_tracker_feature.cpp | 2 +- src/examples/test_processor_tracker_landmark.cpp | 2 +- src/processor_tracker_landmark_dummy.cpp | 6 ++++-- src/processor_tracker_landmark_dummy.h | 2 +- 5 files changed, 8 insertions(+), 6 deletions(-) diff --git a/src/examples/test_kf_callback.cpp b/src/examples/test_kf_callback.cpp index 5101341c0..75d0c2939 100644 --- a/src/examples/test_kf_callback.cpp +++ b/src/examples/test_kf_callback.cpp @@ -25,7 +25,7 @@ int main() prc_odo->setTimeTolerance(0.1); SensorBasePtr sen_ftr = problem->installSensor ("ODOM 2D", "other odometer", (Vector3s()<<0,0,0).finished(),""); - shared_ptr<ProcessorTrackerFeatureDummy> prc_ftr = make_shared<ProcessorTrackerFeatureDummy>(7, 4); + shared_ptr<ProcessorTrackerFeatureDummy> prc_ftr = make_shared<ProcessorTrackerFeatureDummy>(0.5, 7, 4); prc_ftr->setName("tracker"); sen_ftr->addProcessor(prc_ftr); prc_ftr->setTimeTolerance(0.1); diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp index 15655bce2..fcf29c545 100644 --- a/src/examples/test_processor_tracker_feature.cpp +++ b/src/examples/test_processor_tracker_feature.cpp @@ -31,7 +31,7 @@ int main() std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2); - shared_ptr<ProcessorTrackerFeatureDummy> processor_ptr_ = make_shared<ProcessorTrackerFeatureDummy>(7, 4); + shared_ptr<ProcessorTrackerFeatureDummy> processor_ptr_ = make_shared<ProcessorTrackerFeatureDummy>(.25, 7, 4); wolf_problem_ptr_->addSensor(sensor_ptr_); sensor_ptr_->addProcessor(processor_ptr_); diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp index bc5955a56..6f828298d 100644 --- a/src/examples/test_processor_tracker_landmark.cpp +++ b/src/examples/test_processor_tracker_landmark.cpp @@ -66,7 +66,7 @@ int main() std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2); - std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(5); + std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(.25, 5); wolf_problem_ptr_->addSensor(sensor_ptr_); sensor_ptr_->addProcessor(processor_ptr_); diff --git a/src/processor_tracker_landmark_dummy.cpp b/src/processor_tracker_landmark_dummy.cpp index 71051458b..02d5f9893 100644 --- a/src/processor_tracker_landmark_dummy.cpp +++ b/src/processor_tracker_landmark_dummy.cpp @@ -12,8 +12,10 @@ namespace wolf { -ProcessorTrackerLandmarkDummy::ProcessorTrackerLandmarkDummy(const unsigned int& _max_new_features) : - ProcessorTrackerLandmark("TRACKER LANDMARK DUMMY", _max_new_features, 0.1), n_feature_(0), landmark_idx_non_visible_(0) +ProcessorTrackerLandmarkDummy::ProcessorTrackerLandmarkDummy(const Scalar _time_tolerance, const unsigned int& _max_new_features) : + ProcessorTrackerLandmark("TRACKER LANDMARK DUMMY", _time_tolerance, _max_new_features), + n_feature_(0), + landmark_idx_non_visible_(0) { // diff --git a/src/processor_tracker_landmark_dummy.h b/src/processor_tracker_landmark_dummy.h index 4c8a2b8c8..835fa27ce 100644 --- a/src/processor_tracker_landmark_dummy.h +++ b/src/processor_tracker_landmark_dummy.h @@ -18,7 +18,7 @@ WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmarkDummy); class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark { public: - ProcessorTrackerLandmarkDummy(const unsigned int& _max_new_features); + ProcessorTrackerLandmarkDummy(const Scalar _time_tolerance, const unsigned int& _max_new_features); virtual ~ProcessorTrackerLandmarkDummy(); protected: -- GitLab