From 6d7cfa1752c7e0828cad645e3fe8e4724f4b996b Mon Sep 17 00:00:00 2001 From: Joaquim Casals <jcasals@iri.upc.edu> Date: Tue, 23 Apr 2019 12:21:32 +0200 Subject: [PATCH] Fixed installing and linking. All tests passed (except gtest_problem) --- CMakeLists.txt | 17 +++++++---------- src/capture/capture_GPS_fix.cpp | 34 --------------------------------- 2 files changed, 7 insertions(+), 44 deletions(-) delete mode 100644 src/capture/capture_GPS_fix.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt index a94636173..75ead290f 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -364,7 +364,6 @@ SET(HDRS_DTASSC include/base/association/association_solver.h include/base/association/association_tree.h include/base/association/matrix.h - include/base/track_matrix.h ) @@ -400,14 +399,11 @@ SET(SRCS_MATH SET(SRCS_UTILS ) -SET(SRCS - ) SET(SRCS_CAPTURE src/capture/capture_motion.cpp src/capture/capture_base.cpp src/capture/capture_pose.cpp src/capture/capture_void.cpp - src/capture/capture_GPS_fix.cpp src/capture/capture_IMU.cpp src/capture/capture_odom_2D.cpp src/capture/capture_odom_3D.cpp @@ -422,11 +418,14 @@ SET(SRCS_FEATURE src/feature/feature_corner_2D.cpp src/feature/feature_diff_drive.cpp src/feature/feature_odom_2D.cpp + src/feature/feature_base.cpp + src/feature/feature_pose.cpp ) SET(SRCS_LANDMARK src/landmark/landmark_container.cpp src/landmark/landmark_corner_2D.cpp src/landmark/landmark_line_2D.cpp + src/landmark/landmark_base.cpp ) SET(SRCS_PROCESSOR src/processor/motion_buffer.cpp @@ -460,6 +459,8 @@ SET(SRCS_DTASSC SET(SRCS_SOLVER src/solver/solver_manager.cpp ) +SET(SRCS_YAML + ) #OPTIONALS #optional HDRS and SRCS IF (Ceres_FOUND) @@ -496,15 +497,11 @@ ENDIF(Suitesparse_FOUND) # LEAVE YAML FILES ALWAYS IN THE LAST POSITION !! IF(YAMLCPP_FOUND) # headers - SET(HDRS ${HDRS} - include/base/yaml/yaml_conversion.h - ) SET(HDRS_YAML ${HDRS_YAML} include/base/yaml/yaml_conversion.h ) - # sources - SET(SRCS ${SRCS} + SET(SRCS_YAML ${SRCS_YAML} src/yaml/processor_odom_3D_yaml.cpp src/yaml/sensor_odom_3D_yaml.cpp ) @@ -532,7 +529,7 @@ ADD_LIBRARY(${PROJECT_NAME} ${SRCS_TRAJECTORY} ${SRCS_UTILS} ${SRCS_WRAPPER} - ${SRCS} + ${SRCS_YAML} ) TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}) diff --git a/src/capture/capture_GPS_fix.cpp b/src/capture/capture_GPS_fix.cpp deleted file mode 100644 index ccf9b8631..000000000 --- a/src/capture/capture_GPS_fix.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include "base/capture/capture_GPS_fix.h" - -namespace wolf { - -CaptureGPSFix::CaptureGPSFix(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data) : - CaptureBase("GPS FIX", _ts, _sensor_ptr), - data_(_data) -{ - // -} - -CaptureGPSFix::CaptureGPSFix(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance) : - CaptureBase("GPS FIX", _ts, _sensor_ptr), - data_(_data), - data_covariance_(_data_covariance) -{ - // -} - -CaptureGPSFix::~CaptureGPSFix() -{ - //std::cout << "Destroying GPS fix capture...\n"; -} - -void CaptureGPSFix::process() -{ - // EXTRACT AND ADD FEATURES - addFeature(std::make_shared<FeatureGPSFix>(data_,data_covariance_)); - - // ADD CONSTRAINT - getFeatureList().front()->addFactor(std::make_shared <FactorGPS2D>(getFeatureList().front())); -} - -} //namespace wolf -- GitLab