Merge branch 'isometry' into 'devel'

replace Affine --> Isometry

See merge request !280

hello_wolf/factor_bearing.h

@@ -57,7 +57,7 @@ inline bool FactorBearing::operator ()(const T* const _p1, const T* const _o1,
 {
 
     // 1. produce a transformation matrix to transform from robot frame to world frame
-    Transform<T, 2, Affine> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
+    Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p1[0], _p1[1]) * Rotation2D<T>(*_o1) ; // Robot frame = robot-to-world transform
     // Map input pointers into meaningful Eigen elements
     Map<const Matrix<T, 2, 1>>      point_w(_p2);
     Map<const Matrix<T, 1, 1>>      res(_res);

hello_wolf/factor_range_bearing.h

@@ -97,11 +97,11 @@ inline bool FactorRangeBearing::operator ()(const T* const _p_w_r, // robot posi
     Map<Matrix<T, 2, 1>>            res(_res);      // residual
 
     // 1. produce transformation matrices to transform from sensor frame --> to robot frame --> to world frame
-    Transform<T, 2, Affine> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot  frame = robot-to-world transform
-    Transform<T, 2, Affine> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Sensor frame = sensor-to-robot transform
+    Transform<T, 2, Isometry> H_w_r = Translation<T,2>(_p_w_r[0], _p_w_r[1]) * Rotation2D<T>(*_o_w_r) ; // Robot  frame = robot-to-world transform
+    Transform<T, 2, Isometry> H_r_s = Translation<T,2>(_p_r_s[0], _p_r_s[1]) * Rotation2D<T>(*_o_r_s) ; // Sensor frame = sensor-to-robot transform
 
     // 2. Transform world-referenced landmark point to sensor-referenced point
-    Transform<T, 2, Affine> H_w_s = H_w_r * H_r_s;  // world-to-sensor transform
+    Transform<T, 2, Isometry> H_w_s = H_w_r * H_r_s;  // world-to-sensor transform
     Matrix<T, 2, 1> lmk_s = H_w_s.inverse() * lmk;  // point in sensor frame
 
     // 3. Get the expected range-and-bearing of the point

hello_wolf/processor_range_bearing.h

@@ -30,7 +30,7 @@ WOLF_PTR_TYPEDEFS(ProcessorRangeBearing);
 class ProcessorRangeBearing : public ProcessorBase
 {
     public:
-        typedef Eigen::Transform<Scalar, 2, Eigen::Affine> Trf;
+        typedef Eigen::Transform<Scalar, 2, Eigen::Isometry> Trf;
 
         ProcessorRangeBearing(const SensorRangeBearingPtr _sensor_ptr, ProcessorParamsBasePtr _params);
         virtual ~ProcessorRangeBearing() {/* empty */}

include/core/common/wolf.h

@@ -17,6 +17,7 @@
 #include <Eigen/Dense>
 #include <Eigen/Geometry>
 #include <Eigen/Sparse>
+
 #include <libgen.h>
 
 //includes from std lib