From 55d95c00bd6f3a5dfaa4d68c1ef3ba5c35cb2f54 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Wed, 31 Jul 2019 08:11:48 +0200
Subject: [PATCH] Improve creator of prc diff drv
---
src/processor/processor_diff_drive.cpp | 14 ++------------
src/processor/processor_odom_2D.cpp | 7 ++-----
2 files changed, 4 insertions(+), 17 deletions(-)
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 7af4c10f8..56e25ef30 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 7a0268547..9253e23c0 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;
--
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