From 5395080f255c37dd9518bdb5a14995df5bd81446 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 26 Jan 2018 13:02:28 +0100
Subject: [PATCH] Rename FeatureFix -> FeaturePose
---
src/CMakeLists.txt | 4 ++--
src/examples/test_analytic_odom_constraint.cpp | 4 ++--
src/examples/test_wolf_autodiffwrapper.cpp | 4 ++--
src/examples/test_wolf_imported_graph.cpp | 4 ++--
src/examples/test_wolf_prunning.cpp | 4 ++--
src/feature_fix.cpp | 17 -----------------
src/feature_pose.cpp | 17 +++++++++++++++++
src/{feature_fix.h => feature_pose.h} | 14 +++++++-------
src/test/gtest_constraint_absolute.cpp | 12 ++++++------
9 files changed, 40 insertions(+), 40 deletions(-)
delete mode 100644 src/feature_fix.cpp
create mode 100644 src/feature_pose.cpp
rename src/{feature_fix.h => feature_pose.h} (55%)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index c15217fa4..22d70f19a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -259,9 +259,9 @@ SET(HDRS
feature_gps_fix.h
feature_gps_pseudorange.h
feature_imu.h
- feature_fix.h
feature_odom_2D.h
feature_polyline_2D.h
+ feature_pose.h
landmark_corner_2D.h
landmark_container.h
landmark_line_2D.h
@@ -332,9 +332,9 @@ SET(SRCS
feature_gps_fix.cpp
feature_gps_pseudorange.cpp
feature_imu.cpp
- feature_fix.cpp
feature_odom_2D.cpp
feature_polyline_2D.cpp
+ feature_pose.cpp
landmark_corner_2D.cpp
landmark_container.cpp
landmark_line_2D.cpp
diff --git a/src/examples/test_analytic_odom_constraint.cpp b/src/examples/test_analytic_odom_constraint.cpp
index 93fb031c5..029b0280b 100644
--- a/src/examples/test_analytic_odom_constraint.cpp
+++ b/src/examples/test_analytic_odom_constraint.cpp
@@ -238,7 +238,7 @@ int main(int argc, char** argv)
bNum.clear();
// add capture, feature and constraint to problem
- FeatureBasePtr feature_ptr_autodiff = new FeatureBase("FIX", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_autodiff = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_autodiff = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_autodiff.find(edge_old) != index_2_frame_ptr_autodiff.end() && "edge from vertex not added!");
FrameBasePtr frame_old_ptr_autodiff = index_2_frame_ptr_autodiff[edge_old];
@@ -251,7 +251,7 @@ int main(int argc, char** argv)
//std::cout << "Added autodiff edge! " << constraint_ptr_autodiff->id() << " from vertex " << constraint_ptr_autodiff->getCapturePtr()->getFramePtr()->id() << " to " << constraint_ptr_autodiff->getFrameOtherPtr()->id() << std::endl;
// add capture, feature and constraint to problem
- FeatureBasePtr feature_ptr_analytic = new FeatureBase("FIX", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_analytic = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_analytic = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_analytic.find(edge_old) != index_2_frame_ptr_analytic.end() && "edge from vertex not added!");
FrameBasePtr frame_old_ptr_analytic = index_2_frame_ptr_analytic[edge_old];
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index 318f085ab..5728739a8 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -225,8 +225,8 @@ int main(int argc, char** argv)
bNum.clear();
// add capture, feature and constraint to problem
- FeatureBasePtr feature_ptr_ceres_diff = new FeatureBase("FIX", edge_vector, edge_information.inverse());
- FeatureBasePtr feature_ptr_wolf_diff = new FeatureBase("FIX", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_ceres_diff = new FeatureBase("POSE", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_wolf_diff = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_ceres_diff = new CaptureVoid(TimeStamp(0), sensor);
CaptureVoid* capture_ptr_wolf_diff = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_ceres_diff.find(edge_old) != index_2_frame_ptr_ceres_diff.end() && "edge from vertex not added!");
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index baa9cc7ce..fc8129dc5 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -246,8 +246,8 @@ int main(int argc, char** argv)
bNum.clear();
// add capture, feature and constraint to problem
- FeatureBasePtr feature_ptr_full = new FeatureBase("FIX", edge_vector, edge_information.inverse());
- FeatureBasePtr feature_ptr_prun = new FeatureBase("FIX", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_full = new FeatureBase("POSE", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_prun = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_full = new CaptureVoid(TimeStamp(0), sensor);
CaptureVoid* capture_ptr_prun = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_full.find(edge_old) != index_2_frame_ptr_full.end() && "edge from vertex not added!");
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index 92fcc6d98..3191326c0 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -263,8 +263,8 @@ int main(int argc, char** argv)
//std::cout << "Adding edge... " << std::endl;
// add capture, feature and constraint to problem
- FeatureBasePtr feature_ptr_full = new FeatureBase("FIX", edge_vector, edge_information.inverse());
- FeatureBasePtr feature_ptr_prun = new FeatureBase("FIX", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_full = new FeatureBase("POSE", edge_vector, edge_information.inverse());
+ FeatureBasePtr feature_ptr_prun = new FeatureBase("POSE", edge_vector, edge_information.inverse());
CaptureVoid* capture_ptr_full = new CaptureVoid(TimeStamp(0), sensor);
CaptureVoid* capture_ptr_prun = new CaptureVoid(TimeStamp(0), sensor);
assert(index_2_frame_ptr_full.find(edge_old) != index_2_frame_ptr_full.end() && "edge from vertex not added!");
diff --git a/src/feature_fix.cpp b/src/feature_fix.cpp
deleted file mode 100644
index 5497695a4..000000000
--- a/src/feature_fix.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include "feature_fix.h"
-
-
-namespace wolf {
-
-FeatureFix::FeatureFix(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance) :
- FeatureBase("FIX", _measurement, _meas_covariance)
-{
- //
-}
-
-FeatureFix::~FeatureFix()
-{
- //
-}
-
-} // namespace wolf
diff --git a/src/feature_pose.cpp b/src/feature_pose.cpp
new file mode 100644
index 000000000..35193d2b0
--- /dev/null
+++ b/src/feature_pose.cpp
@@ -0,0 +1,17 @@
+#include "feature_pose.h"
+
+
+namespace wolf {
+
+FeaturePose::FeaturePose(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance) :
+ FeatureBase("POSE", _measurement, _meas_covariance)
+{
+ //
+}
+
+FeaturePose::~FeaturePose()
+{
+ //
+}
+
+} // namespace wolf
diff --git a/src/feature_fix.h b/src/feature_pose.h
similarity index 55%
rename from src/feature_fix.h
rename to src/feature_pose.h
index d7649bcc3..f4d7ba061 100644
--- a/src/feature_fix.h
+++ b/src/feature_pose.h
@@ -1,5 +1,5 @@
-#ifndef FEATURE_FIX_H_
-#define FEATURE_FIX_H_
+#ifndef FEATURE_POSE_H_
+#define FEATURE_POSE_H_
//Wolf includes
@@ -10,10 +10,10 @@
namespace wolf {
-WOLF_PTR_TYPEDEFS(FeatureFix);
+WOLF_PTR_TYPEDEFS(FeaturePose);
-//class FeatureFix
-class FeatureFix : public FeatureBase
+//class FeaturePose
+class FeaturePose : public FeatureBase
{
public:
@@ -23,8 +23,8 @@ class FeatureFix : public FeatureBase
* \param _meas_covariance the noise of the measurement
*
*/
- FeatureFix(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
- virtual ~FeatureFix();
+ FeaturePose(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance);
+ virtual ~FeaturePose();
};
} // namespace wolf
diff --git a/src/test/gtest_constraint_absolute.cpp b/src/test/gtest_constraint_absolute.cpp
index 0f190fef2..52adcd099 100644
--- a/src/test/gtest_constraint_absolute.cpp
+++ b/src/test/gtest_constraint_absolute.cpp
@@ -51,7 +51,7 @@ CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>(0, nullpt
TEST(ConstraintBlockAbs, ctr_block_abs_p_check)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr()))
);
@@ -60,7 +60,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p_check)
TEST(ConstraintBlockAbs, ctr_block_abs_p_solve)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.head<3>(), data_cov.topLeftCorner<3,3>()));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getPPtr()))
);
@@ -78,7 +78,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_p_solve)
TEST(ConstraintBlockAbs, ctr_block_abs_v_check)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getVPtr()))
);
@@ -87,7 +87,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_v_check)
TEST(ConstraintBlockAbs, ctr_block_abs_v_solve)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintBlockAbsolute>(fea0->getFramePtr()->getVPtr()))
);
@@ -105,7 +105,7 @@ TEST(ConstraintBlockAbs, ctr_block_abs_v_solve)
TEST(ConstraintQuatAbs, ctr_block_abs_o_check)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintQuaternionAbsolute>(fea0->getFramePtr()->getOPtr()))
);
@@ -114,7 +114,7 @@ TEST(ConstraintQuatAbs, ctr_block_abs_o_check)
TEST(ConstraintQuatAbs, ctr_block_abs_o_solve)
{
- FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FIX", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
+ FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("POSE", pose10.segment<4>(3), data_cov.block<3,3>(3,3)));
ConstraintBlockAbsolutePtr ctr0 = std::static_pointer_cast<ConstraintBlockAbsolute>(
fea0->addConstraint(std::make_shared<ConstraintQuaternionAbsolute>(fea0->getFramePtr()->getOPtr()))
);
--
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