diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp index 7af4c10f8a09807f234799c8fc5d6ea034aa9fc1..56e25ef306a5c6a2ef3c79da941968959db59c60 100644 --- a/src/processor/processor_diff_drive.cpp +++ b/src/processor/processor_diff_drive.cpp @@ -187,19 +187,9 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature, ProcessorBasePtr ProcessorDiffDrive::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr) { + auto params = std::make_shared<ProcessorParamsDiffDrive>(_unique_name, _server); - ProcessorDiffDrivePtr prc_ptr; - - std::shared_ptr<ProcessorParamsDiffDrive> params; - params = std::make_shared<ProcessorParamsDiffDrive>(); - params->voting_active = _server.getParam<bool>(_unique_name + "/voting_active"); - params->time_tolerance = _server.getParam<double>(_unique_name + "/time_tolerance"); - params->max_time_span = _server.getParam<double>(_unique_name + "/max_time_span"); - params->dist_traveled = _server.getParam<double>(_unique_name + "/dist_traveled"); // Will make KFs automatically every 1m displacement - params->angle_turned = _server.getParam<double>(_unique_name + "/angle_turned"); - params->unmeasured_perturbation_std = _server.getParam<double>(_unique_name + "/unmeasured_perturbation_std"); - - prc_ptr = std::make_shared<ProcessorDiffDrive>(params); + auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params); prc_ptr->setName(_unique_name); return prc_ptr; diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp index 7a026854728ee7a8bf4bddf3a63c8b651cb47334..9253e23c08ca3b12e296c7c92a825f93ce6ee599 100644 --- a/src/processor/processor_odom_2D.cpp +++ b/src/processor/processor_odom_2D.cpp @@ -186,12 +186,9 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr) { - ProcessorOdom2DPtr prc_ptr; - - std::shared_ptr<ProcessorParamsOdom2D> params; - params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server); + auto params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server); - prc_ptr = std::make_shared<ProcessorOdom2D>(params); + auto prc_ptr = std::make_shared<ProcessorOdom2D>(params); prc_ptr->setName(_unique_name); return prc_ptr;