From 61b77da84006a2346ec0c441717fe21ba98c7ac1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 15 Jan 2021 21:15:31 +0100
Subject: [PATCH] Rename FactorOdom2dAnalytic -> FactorOdom2d
---
CMakeLists.txt | 2 +-
...{factor_odom_2d_analytic.h => factor_odom_2d.h} | 14 +++++++-------
include/core/factor/factor_odom_2d_autodiff.h | 2 +-
include/core/feature/feature_odom_2d.h | 2 +-
test/gtest_factor_autodiff.cpp | 4 ++--
test/gtest_odom_2d.cpp | 6 +++---
6 files changed, 15 insertions(+), 15 deletions(-)
rename include/core/factor/{factor_odom_2d_analytic.h => factor_odom_2d.h} (70%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7728a55e1..b9002bc5e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -221,9 +221,9 @@ SET(HDRS_FACTOR
include/core/factor/factor_block_difference.h
include/core/factor/factor_diff_drive.h
include/core/factor/factor_distance_3d.h
+ include/core/factor/factor_odom_2d.h
include/core/factor/factor_odom_2d_autodiff.h
include/core/factor/factor_odom_2d_closeloop.h
- include/core/factor/factor_odom_2d_analytic.h
include/core/factor/factor_odom_3d.h
include/core/factor/factor_pose_2d.h
include/core/factor/factor_pose_3d.h
diff --git a/include/core/factor/factor_odom_2d_analytic.h b/include/core/factor/factor_odom_2d.h
similarity index 70%
rename from include/core/factor/factor_odom_2d_analytic.h
rename to include/core/factor/factor_odom_2d.h
index c98a521df..e79aaacdb 100644
--- a/include/core/factor/factor_odom_2d_analytic.h
+++ b/include/core/factor/factor_odom_2d.h
@@ -1,5 +1,5 @@
-#ifndef FACTOR_ODOM_2d_ANALYTIC_H_
-#define FACTOR_ODOM_2d_ANALYTIC_H_
+#ifndef FACTOR_ODOM_2d_H_
+#define FACTOR_ODOM_2d_H_
//Wolf includes
#include "core/factor/factor_relative_2d_analytic.h"
@@ -7,18 +7,18 @@
namespace wolf {
-WOLF_PTR_TYPEDEFS(FactorOdom2dAnalytic);
+WOLF_PTR_TYPEDEFS(FactorOdom2d);
//class
-class FactorOdom2dAnalytic : public FactorRelative2dAnalytic
+class FactorOdom2d : public FactorRelative2dAnalytic
{
public:
- FactorOdom2dAnalytic(const FeatureBasePtr& _ftr_ptr,
+ FactorOdom2d(const FeatureBasePtr& _ftr_ptr,
const FrameBasePtr& _frame_ptr,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE) :
- FactorRelative2dAnalytic("FactorOdom2dAnalytic",
+ FactorRelative2dAnalytic("FactorOdom2d",
_ftr_ptr,
_frame_ptr,
_processor_ptr,
@@ -28,7 +28,7 @@ class FactorOdom2dAnalytic : public FactorRelative2dAnalytic
//
}
- ~FactorOdom2dAnalytic() override = default;
+ ~FactorOdom2d() override = default;
std::string getTopology() const override
{
diff --git a/include/core/factor/factor_odom_2d_autodiff.h b/include/core/factor/factor_odom_2d_autodiff.h
index a63ca8cdd..f7cefbb0a 100644
--- a/include/core/factor/factor_odom_2d_autodiff.h
+++ b/include/core/factor/factor_odom_2d_autodiff.h
@@ -21,7 +21,7 @@ class FactorOdom2dAutodiff : public FactorAutodiff<FactorOdom2dAutodiff, 3, 2, 1
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE) :
- FactorAutodiff<FactorOdom2dAutodiff, 3, 2, 1, 2, 1>("FactorOdom2d",
+ FactorAutodiff<FactorOdom2dAutodiff, 3, 2, 1, 2, 1>("FactorOdom2dAutodiff",
_ftr_ptr,
_frame_other_ptr, nullptr, nullptr, nullptr,
_processor_ptr,
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 78522f6b5..3c9c87a2e 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -2,9 +2,9 @@
#define FEATURE_ODOM_2d_H_
//Wolf includes
+#include <core/factor/factor_odom_2d.h>
#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/feature/feature_base.h"
-#include "core/factor/factor_odom_2d_analytic.h"
//std includes
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index d852ea30c..cb72a43e5 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -5,13 +5,13 @@
* Author: jvallve
*/
+#include <core/factor/factor_odom_2d.h>
#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/utils/utils_gtest.h"
#include "core/sensor/sensor_odom_2d.h"
#include "core/capture/capture_void.h"
#include "core/feature/feature_odom_2d.h"
-#include "core/factor/factor_odom_2d_analytic.h"
#include "core/factor/factor_autodiff.h"
#include "dummy/factor_dummy_zero_1.h"
#include "dummy/factor_dummy_zero_12.h"
@@ -531,7 +531,7 @@ TEST(FactorAutodiff, AutodiffVsAnalytic)
// FACTOR
auto fac_autodiff_ptr = FactorBase::emplace<FactorOdom2dAutodiff>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
- auto fac_analytic_ptr = FactorBase::emplace<FactorOdom2dAnalytic>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
+ auto fac_analytic_ptr = FactorBase::emplace<FactorOdom2d>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
// COMPUTE JACOBIANS
const Eigen::VectorXd fr1_pstate = fr1_ptr->getP()->getState();
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index cbdcf2435..3fb6a8bf2 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -5,13 +5,13 @@
* \author: jsola
*/
+#include <core/factor/factor_odom_2d.h>
#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/utils/utils_gtest.h"
// Classes under test
#include "core/sensor/sensor_odom_2d.h"
#include "core/processor/processor_odom_2d.h"
-#include "core/factor/factor_odom_2d_analytic.h"
#include "core/capture/capture_odom_2d.h"
// Wolf includes
@@ -133,14 +133,14 @@ TEST(Odom2d, FactorFix_and_FactorOdom2d)
FrameBasePtr F1 = Pr->emplaceFrame(t, Vector3d::Zero());
auto C1 = CaptureBase::emplace<CaptureBase>(F1, "CaptureOdom2d", t);
auto f1 = FeatureBase::emplace<FeatureBase>(C1, "FeatureOdom2d", delta, delta_cov);
- auto c1 = FactorBase::emplace<FactorOdom2dAnalytic>(f1, f1, F0, nullptr, false);
+ auto c1 = FactorBase::emplace<FactorOdom2d>(f1, f1, F0, nullptr, false);
// KF2 and motion from KF1
t += dt;
FrameBasePtr F2 = Pr->emplaceFrame(t, Vector3d::Zero());
auto C2 = CaptureBase::emplace<CaptureBase>(F2, "CaptureOdom2d", t);
auto f2 = FeatureBase::emplace<FeatureBase>(C2, "FeatureOdom2d", delta, delta_cov);
- auto c2 = FactorBase::emplace<FactorOdom2dAnalytic>(f2, f2, F1, nullptr, false);
+ auto c2 = FactorBase::emplace<FactorOdom2d>(f2, f2, F1, nullptr, false);
ASSERT_TRUE(Pr->check(0));
--
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