From 3eaf57484c00bace69418d4d827c3bb4ada51841 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Tue, 10 May 2022 01:29:14 +0200
Subject: [PATCH] Rationalize includes
---
include/core/problem/problem.h | 6 ++----
src/map/map_base.cpp | 2 +-
src/problem/problem.cpp | 24 +-----------------------
src/processor/processor_tracker.cpp | 8 ++------
src/yaml/processor_odom_3d_yaml.cpp | 2 +-
src/yaml/sensor_odom_2d_yaml.cpp | 1 +
src/yaml/sensor_odom_3d_yaml.cpp | 2 +-
src/yaml/sensor_pose_yaml.cpp | 2 +-
test/gtest_processor_odom_3d.cpp | 2 +-
9 files changed, 11 insertions(+), 38 deletions(-)
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 69e55ea85..9dfb7cae3 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -37,13 +37,11 @@ struct ParamsProcessorBase;
//wolf includes
#include "core/common/wolf.h"
+#include "core/utils/params_server.h"
#include "core/frame/frame_base.h"
#include "core/state_block/state_block.h"
-#include "core/utils/params_server.h"
-#include "core/sensor/factory_sensor.h"
-#include "core/processor/factory_processor.h"
-#include <core/processor/motion_provider.h>
#include "core/state_block/state_composite.h"
+#include "core/processor/motion_provider.h"
// std includes
#include <mutex>
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 88b5f411d..66367305a 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -23,7 +23,7 @@
// wolf
#include "core/map/map_base.h"
#include "core/landmark/landmark_base.h"
-//#include "core/common/factory.h"
+#include "core/common/factory.h"
// YAML
#include <yaml-cpp/yaml.h>
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index aa07e14a3..604770acc 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -21,40 +21,18 @@
//--------LICENSE_END--------
// wolf includes
#include "core/problem/problem.h"
-#include "core/hardware/hardware_base.h"
-#include "core/trajectory/trajectory_base.h"
-#include "core/map/map_base.h"
#include "core/map/factory_map.h"
-#include "core/sensor/sensor_base.h"
#include "core/sensor/factory_sensor.h"
#include "core/processor/factory_processor.h"
-#include "core/processor/processor_motion.h"
-#include "core/processor/processor_tracker.h"
-#include "core/capture/capture_pose.h"
#include "core/capture/capture_void.h"
-#include "core/factor/factor_base.h"
#include "core/factor/factor_block_absolute.h"
#include "core/factor/factor_quaternion_absolute.h"
-#include "core/state_block/state_block.h"
#include "core/state_block/state_quaternion.h"
#include "core/state_block/state_angle.h"
#include "core/tree_manager/factory_tree_manager.h"
#include "core/tree_manager/tree_manager_base.h"
-
-#include "core/utils/params_server.h"
#include "core/utils/loader.h"
-#include "core/utils/check_log.h"
-#include "core/math/covariance.h"
-#include "core/state_block/factory_state_block.h"
-
-// C++ includes
-#include <algorithm>
-#include <map>
-#include <sstream>
-#include <stdexcept>
-#include <string>
-#include <vector>
-#include <unordered_set>
+
namespace wolf
{
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 512d941b7..3d3794e75 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -216,10 +216,6 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
last_ptr_->getFrame()->setState(getProblem()->getState(last_ptr_->getTimeStamp()));
last_ptr_->getFrame()->link(getProblem());
- // // make F; append incoming to new F
- // FrameBasePtr frm = FrameBase::createNonKeyFrame<FrameBase>(incoming_ptr_->getTimeStamp());
- // incoming_ptr_->link(frm);
-
// Establish factors
establishFactors();
@@ -232,7 +228,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// make F; append incoming to new F
FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
getProblem()->getFrameStructure(),
- last_ptr_->getFrame()->getState());
+ getProblem()->getState(incoming_ptr_->getTimeStamp()));
incoming_ptr_ ->link(frame);
origin_ptr_ = last_ptr_;
last_ptr_ = incoming_ptr_;
@@ -250,7 +246,7 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
// Replace last frame for a new one in incoming
FrameBasePtr frame = std::make_shared<FrameBase>(incoming_ptr_->getTimeStamp(),
getProblem()->getFrameStructure(),
- last_ptr_->getFrame()->getState());
+ getProblem()->getState(incoming_ptr_->getTimeStamp()));
incoming_ptr_->link(frame);
last_ptr_->unlink(); // unlink last (destroying the frame) instead of frame destruction that would implicitly destroy last
diff --git a/src/yaml/processor_odom_3d_yaml.cpp b/src/yaml/processor_odom_3d_yaml.cpp
index a8dd748ea..771d19b74 100644
--- a/src/yaml/processor_odom_3d_yaml.cpp
+++ b/src/yaml/processor_odom_3d_yaml.cpp
@@ -31,7 +31,7 @@
// wolf
#include "core/processor/processor_odom_3d.h"
-#include "core/common/factory.h"
+#include "core/processor/factory_processor.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_odom_2d_yaml.cpp b/src/yaml/sensor_odom_2d_yaml.cpp
index 68a44ff61..dcb0cf0c1 100644
--- a/src/yaml/sensor_odom_2d_yaml.cpp
+++ b/src/yaml/sensor_odom_2d_yaml.cpp
@@ -33,6 +33,7 @@
// wolf
#include "core/sensor/sensor_odom_2d.h"
+#include "core/sensor/factory_sensor.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_odom_3d_yaml.cpp b/src/yaml/sensor_odom_3d_yaml.cpp
index 02e0ff3d8..0cb47d441 100644
--- a/src/yaml/sensor_odom_3d_yaml.cpp
+++ b/src/yaml/sensor_odom_3d_yaml.cpp
@@ -31,7 +31,7 @@
// wolf
#include "core/sensor/sensor_odom_3d.h"
-#include "core/common/factory.h"
+#include "core/sensor/factory_sensor.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_pose_yaml.cpp b/src/yaml/sensor_pose_yaml.cpp
index 102729bd9..bfbe151c4 100644
--- a/src/yaml/sensor_pose_yaml.cpp
+++ b/src/yaml/sensor_pose_yaml.cpp
@@ -31,7 +31,7 @@
// wolf
#include "core/sensor/sensor_pose.h"
-#include "core/common/factory.h"
+#include "core/sensor/factory_sensor.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index a5e0beabb..23c0afdf5 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -149,7 +149,7 @@ TEST(ProcessorOdom3d, deltaPlusDelta_Jac)
MatrixXd J_D(7,7), J_d(7,7);
- JAC_NUMERIC(prc_ptr, D, d, dt, J_D, J_d, Constants::EPS);
+ JAC_NUMERIC(prc_ptr, D, d, dt, J_D, J_d, 1000*Constants::EPS);
WOLF_DEBUG("J_D:\n ", J_D);
WOLF_DEBUG("J_d:\n ", J_d);
--
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