renamed processCapture() to process()

src/capture_base.cpp

@@ -60,7 +60,7 @@ void CaptureBase::setTimeStampToNow()
     time_stamp_.setToNow();
 }
 
-void CaptureBase::processCapture()
+void CaptureBase::process()
 {
     // Call all processors assigned to the sensor that captured this data
 	//TODO jsola: derive SensorBase::getProcessorList

src/capture_base.h

@@ -86,7 +86,7 @@ class CaptureBase : public NodeLinked<FrameBase, FeatureBase>
         void setTimeStampToNow();
 
         // TODO rename to process()
-        virtual void processCapture(); 
+        virtual void process(); 
 
         // TODO Rename to computeFrameInitialGuess() ... for instance
         //      Another name could be provideFrameInitialGuess();

src/capture_fix.cpp

@@ -14,7 +14,7 @@ CaptureFix::~CaptureFix()
 	//
 }
 
-void CaptureFix::processCapture()
+void CaptureFix::process()
 {
 	// EXTRACT AND ADD FEATURES
     addFeature(new FeatureFix(data_,data_covariance_));

src/capture_fix.h

@@ -27,7 +27,7 @@ class CaptureFix : public CaptureBase
          **/
         virtual ~CaptureFix();
 
-        virtual void processCapture();
+        virtual void process();
 
         virtual Eigen::VectorXs computePrior(const TimeStamp& _now) const;
 };

src/capture_gps.cpp

@@ -24,7 +24,7 @@ CaptureGPS::~CaptureGPS()
  * Process a gps and create feature and constraint for each satellite
  *
  **/
-void CaptureGPS::processCapture()
+void CaptureGPS::process()
 {
     std::cout << "CaptureGPS::processCapture()... processing capture" << std::endl;
 

src/capture_gps.h

@@ -27,7 +27,7 @@ public:
      **/
     virtual ~CaptureGPS();
 
-    void processCapture();
+    void process();
 
     /*
      * Dummy implementation of the method, only because it's pure virtual

src/capture_gps_fix.cpp

@@ -20,7 +20,7 @@ CaptureGPSFix::~CaptureGPSFix()
 	//std::cout << "Destroying GPS fix capture...\n";
 }
 
-void CaptureGPSFix::processCapture()
+void CaptureGPSFix::process()
 {
 	// EXTRACT AND ADD FEATURES
     addFeature(new FeatureGPSFix(data_,data_covariance_));

src/capture_gps_fix.h

@@ -27,7 +27,7 @@ class CaptureGPSFix : public CaptureBase
          **/
         virtual ~CaptureGPSFix();
 
-        virtual void processCapture();
+        virtual void process();
 
         virtual Eigen::VectorXs computePrior(const TimeStamp& _now) const;
 

src/capture_odom_2D.cpp

@@ -24,7 +24,7 @@ CaptureOdom2D::~CaptureOdom2D()
     //std::cout << "Destroying CaptureOdom2D capture...\n";
 }
 
-inline void CaptureOdom2D::processCapture()
+inline void CaptureOdom2D::process()
 {
     // ADD FEATURE
     addFeature(new FeatureOdom2D(data_, data_covariance_));

src/capture_odom_2D.h

@@ -32,7 +32,7 @@ class CaptureOdom2D : public CaptureMotion
        **/
       virtual ~CaptureOdom2D();
 
-      virtual void processCapture();
+      virtual void process();
 
       virtual Eigen::VectorXs computePrior(const TimeStamp& _now = 0) const;
 

src/examples/test_gps_classes.cpp

@@ -31,7 +31,7 @@ int main(int argc, char** argv)
     raw_data << 42, 43, 44, 45;
 
     CaptureGPS capture(time_stamp, &device, raw_data);
-    capture.processCapture();
+    capture.process();
 
 
     return 0;

src/examples/test_wolf_imported_graph.cpp

@@ -309,8 +309,8 @@ int main(int argc, char** argv)
     CaptureFix* initial_covariance_prun = new CaptureFix(TimeStamp(0), new SensorBase(ABSOLUTE_POSE, nullptr, nullptr, nullptr, 0), first_frame_prun->getState(), Eigen::Matrix3s::Identity() * 0.01);
     first_frame_full->addCapture(initial_covariance_full);
     first_frame_prun->addCapture(initial_covariance_prun);
-    initial_covariance_full->processCapture();
-    initial_covariance_prun->processCapture();
+    initial_covariance_full->process();
+    initial_covariance_prun->process();
     //std::cout << "initial covariance: constraint " << initial_covariance_prun->getFeatureListPtr()->front()->getConstraintFromListPtr()->front()->nodeId() << std::endl << initial_covariance_prun->getFeatureListPtr()->front()->getMeasurementCovariance() << std::endl;
     Eigen::SparseMatrix<WolfScalar> DeltaLambda(Lambda.rows(), Lambda.cols());
     insertSparseBlock((Eigen::Matrix3s::Identity() * 100).sparseView(), DeltaLambda, 0, 0);

src/processor_base.cpp

@@ -11,11 +11,6 @@ ProcessorBase::~ProcessorBase()
 	//std::cout << "deleting ProcessorBase " << nodeId() << std::endl;
 }
 
-void ProcessorBase::linkToSensor(SensorBase* _sen_ptr)
-{
-    linkToUpperNode(_sen_ptr);
-}
-
 SensorBase* ProcessorBase::getSensorPtr()
 {
     //            return (SensorBase*)(upperNodePtr());

src/processor_base.h

@@ -28,9 +28,6 @@ class ProcessorBase : public NodeLinked<SensorBase,NodeTerminus>
          **/        
         virtual ~ProcessorBase();
 
-		//TODO jsola: Remove it!
-        void linkToSensor(SensorBase* _sen_ptr);
-
         SensorBase* getSensorPtr();
 
         /** \brief Extract Features

src/wolf_manager.cpp

@@ -40,7 +40,7 @@ WolfManager::WolfManager(const FrameStructure _frame_structure,
     //std::cout << " initial_covariance" << std::endl;
     current_frame_->addCapture(initial_covariance);
     //std::cout << " addCapture" << std::endl;
-    initial_covariance->processCapture();
+    initial_covariance->process();
     //std::cout << " processCapture" << std::endl;
 
     // Current robot frame
@@ -100,7 +100,7 @@ void WolfManager::createFrame(const Eigen::VectorXs& _frame_state, const TimeSta
     {
         CaptureMotion* empty_odom = new CaptureOdom2D(_time_stamp, _time_stamp, sensor_prior_, Eigen::Vector3s::Zero());
         current_frame_->addCapture(empty_odom);
-        empty_odom->processCapture();
+        empty_odom->process();
         last_capture_relative_ = empty_odom;
     }
     //std::cout << "last_key_frame_" << std::endl;
@@ -113,7 +113,7 @@ void WolfManager::createFrame(const Eigen::VectorXs& _frame_state, const TimeSta
             if ((*capture_it)->getSensorPtr() != sensor_prior_)
             {
                 //std::cout << "processing capture " << (*capture_it)->nodeId() << std::endl;
-                (*capture_it)->processCapture();
+                (*capture_it)->process();
             }
 
 

src/wolf_manager_gps.cpp

@@ -89,7 +89,7 @@ void WolfManagerGPS::createFrame(const Eigen::VectorXs& _frame_state, const Time
             if ((*capture_it)->getSensorPtr() != sensor_prior_)
             {
                 //std::cout << "processing capture " << (*capture_it)->nodeId() << std::endl;
-                (*capture_it)->processCapture();
+                (*capture_it)->process();
             }