From 51967d5efc062524bb96a7c9b9937172fad6c74b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Sat, 12 Dec 2020 21:54:53 +0100
Subject: [PATCH] Work on params:print()
---
demos/hello_wolf/processor_range_bearing.h | 2 +-
demos/hello_wolf/sensor_range_bearing.h | 2 +-
include/core/common/params_base.h | 5 +----
include/core/processor/processor_base.h | 5 ++---
include/core/processor/processor_diff_drive.h | 2 +-
include/core/processor/processor_motion.h | 2 +-
include/core/processor/processor_odom_2d.h | 2 +-
include/core/processor/processor_odom_3d.h | 2 +-
include/core/sensor/sensor_base.h | 2 +-
include/core/sensor/sensor_diff_drive.h | 2 +-
include/core/sensor/sensor_odom_2d.h | 4 ++--
include/core/sensor/sensor_odom_3d.h | 4 ++--
include/core/solver/solver_manager.h | 4 ++++
include/core/tree_manager/tree_manager_base.h | 4 ++--
include/core/tree_manager/tree_manager_sliding_window.h | 2 +-
.../tree_manager/tree_manager_sliding_window_dual_rate.h | 2 +-
test/dummy/tree_manager_dummy.h | 2 +-
17 files changed, 24 insertions(+), 24 deletions(-)
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index bdcefb3a7..f086da907 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/demos/hello_wolf/processor_range_bearing.h
@@ -33,7 +33,7 @@ struct ParamsProcessorRangeBearing : public ParamsProcessorBase
}
std::string print() const
{
- return "\n" + ParamsProcessorBase::print();
+ return ParamsProcessorBase::print();
}
};
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 59c217fe0..70684f779 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/demos/hello_wolf/sensor_range_bearing.h
@@ -31,7 +31,7 @@ struct ParamsSensorRangeBearing : public ParamsSensorBase
}
std::string print() const
{
- return "" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::print() + "\n"
+ "noise_range_metres_std: " + std::to_string(noise_range_metres_std) + "\n"
+ "noise_bearing_degrees_std: " + std::to_string(noise_bearing_degrees_std) + "\n";
}
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 80f651641..b9a4886c2 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -13,10 +13,7 @@ namespace wolf {
}
virtual ~ParamsBase() = default;
- std::string print() const
- {
- return "";
- }
+ virtual std::string print() const = 0;
};
}
#endif
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index ffdc78fe0..f6b5cc5fb 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -242,11 +242,10 @@ struct ParamsProcessorBase : public ParamsBase
bool voting_aux_active; ///< Whether this processor is allowed to vote for an Auxiliary Frame or not
bool apply_loss_function; ///< Whether this processor emplaces factors with loss function or not
- std::string print() const
+ std::string print() const override
{
- return ParamsBase::print() + "\n"
- + "voting_active: " + std::to_string(voting_active) + "\n"
+ "voting_aux_active: " + std::to_string(voting_aux_active) + "\n"
+ return "voting_active: " + std::to_string(voting_active) + "\n"
+ "time_tolerance: " + std::to_string(time_tolerance) + "\n"
+ "apply_loss_function: " + std::to_string(apply_loss_function) + "\n";
}
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 6fb9eb40f..b1917f708 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -24,7 +24,7 @@ struct ParamsProcessorDiffDrive : public ParamsProcessorOdom2d
}
std::string print() const
{
- return "\n" + ParamsProcessorOdom2d::print();
+ return ParamsProcessorOdom2d::print();
}
};
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 6a0f15a90..7804114d0 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -43,7 +43,7 @@ struct ParamsProcessorMotion : public ParamsProcessorBase
}
std::string print() const
{
- return "\n" + ParamsProcessorBase::print() + "\n"
+ return ParamsProcessorBase::print() + "\n"
+ "max_time_span: " + std::to_string(max_time_span) + "\n"
+ "max_buff_length: " + std::to_string(max_buff_length) + "\n"
+ "dist_traveled: " + std::to_string(dist_traveled) + "\n"
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index de3aebb4a..b61b4ba6e 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -33,7 +33,7 @@ struct ParamsProcessorOdom2d : public ParamsProcessorMotion
std::string print() const
{
- return "\n" + ParamsProcessorMotion::print() + "\n"
+ return ParamsProcessorMotion::print() + "\n"
+ "cov_det: " + std::to_string(cov_det) + "\n";
}
};
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 0ff94590e..c6ca8dbaf 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -29,7 +29,7 @@ struct ParamsProcessorOdom3d : public ParamsProcessorMotion
}
std::string print() const
{
- return "\n" + ParamsProcessorMotion::print();
+ return ParamsProcessorMotion::print();
}
};
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index bf9556bab..4c27ecb6e 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -76,7 +76,7 @@ struct ParamsSensorBase: public ParamsBase
std::string prefix = "sensor/";
~ParamsSensorBase() override = default;
using ParamsBase::ParamsBase;
- std::string print() const
+ std::string print() const override
{
return "";
}
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 8238139c3..cb08a2dd0 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -39,7 +39,7 @@ struct ParamsSensorDiffDrive : public ParamsSensorBase
}
std::string print() const
{
- return "\n" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::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"
diff --git a/include/core/sensor/sensor_odom_2d.h b/include/core/sensor/sensor_odom_2d.h
index b2a989a6f..5f2fc1a71 100644
--- a/include/core/sensor/sensor_odom_2d.h
+++ b/include/core/sensor/sensor_odom_2d.h
@@ -25,9 +25,9 @@ struct ParamsSensorOdom2d : public ParamsSensorBase
k_disp_to_disp = _server.getParam<double>(prefix + _unique_name + "/k_disp_to_disp");
k_rot_to_rot = _server.getParam<double>(prefix + _unique_name + "/k_rot_to_rot");
}
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::print() + "\n"
+ "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n"
+ "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n";
}
diff --git a/include/core/sensor/sensor_odom_3d.h b/include/core/sensor/sensor_odom_3d.h
index 37ec082f5..ab0e8b468 100644
--- a/include/core/sensor/sensor_odom_3d.h
+++ b/include/core/sensor/sensor_odom_3d.h
@@ -36,9 +36,9 @@ struct ParamsSensorOdom3d : public ParamsSensorBase
min_disp_var = _server.getParam<double>(prefix + _unique_name + "/min_disp_var");
min_rot_var = _server.getParam<double>(prefix + _unique_name + "/min_rot_var");
}
- std::string print() const
+ std::string print() const override
{
- return "\n" + ParamsSensorBase::print() + "\n"
+ return ParamsSensorBase::print() + "\n"
+ "k_disp_to_disp: " + std::to_string(k_disp_to_disp) + "\n"
+ "k_disp_to_rot: " + std::to_string(k_disp_to_rot) + "\n"
+ "k_rot_to_rot: " + std::to_string(k_rot_to_rot) + "\n"
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 26ac49efb..53fc181cb 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -202,6 +202,10 @@ struct ParamsSolver: public ParamsBase
period = _server.getParam<double>(prefix + "period");
verbose = (SolverManager::ReportVerbosity)_server.getParam<int>(prefix + "verbose");
}
+ std::string print() const override
+ {
+ return "period: " + std::to_string(period) + "\n";
+ }
~ParamsSolver() override = default;
};
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index 2ffef15ed..9fd06f2f0 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -55,9 +55,9 @@ struct ParamsTreeManagerBase : public ParamsBase
~ParamsTreeManagerBase() override = default;
- std::string print() const
+ std::string print() const override
{
- return ParamsBase::print() + "\n";
+ return "";
}
};
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index ce44fe003..86bc095f4 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -21,7 +21,7 @@ struct ParamsTreeManagerSlidingWindow : public ParamsTreeManagerBase
}
std::string print() const
{
- return "\n" + ParamsTreeManagerBase::print() + "\n"
+ return ParamsTreeManagerBase::print() + "\n"
+ "n_frames: " + std::to_string(n_frames) + "\n"
+ "fix_first_frame: " + std::to_string(fix_first_frame) + "\n"
+ "viral_remove_empty_parent: " + std::to_string(viral_remove_empty_parent) + "\n";
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index e9fcbd133..3d455f890 100644
--- a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -21,7 +21,7 @@ struct ParamsTreeManagerSlidingWindowDualRate : public ParamsTreeManagerSlidingW
}
std::string print() const
{
- return "\n" + ParamsTreeManagerBase::print() + "\n"
+ return ParamsTreeManagerBase::print() + "\n"
+ "n_frames_recent: " + std::to_string(n_frames_recent) + "\n"
+ "rate_old_frames: " + std::to_string(rate_old_frames) + "\n";
}
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index 662c7d156..1e7e70f2e 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -20,7 +20,7 @@ struct ParamsTreeManagerDummy : public ParamsTreeManagerBase
bool toy_param;
- std::string print() const
+ std::string print() const override
{
return ParamsTreeManagerBase::print() + "\n"
+ "toy_param: " + std::to_string(toy_param) + "\n";
--
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