diff --git a/hello_wolf/hello_wolf_config.yaml b/hello_wolf/hello_wolf_config.yaml
index 62b8738103ca4ff4f14b32fd9ee70d001762648c..afd6a9fcde82eb03bb2a67c9f197387e84fd9b58 100644
--- a/hello_wolf/hello_wolf_config.yaml
+++ b/hello_wolf/hello_wolf_config.yaml
@@ -4,25 +4,25 @@ config:
frame_structure: "PO"
dimension: 2
prior:
- timestamp: 0.0
- state: [0,0,0]
- cov: [[3,3],.01,0,0,0,.01,0,0,0,.01]
- time_tolerance: 0.1
+ timestamp: 0.0
+ state: [0,0,0]
+ cov: [[3,3],.01,0,0,0,.01,0,0,0,.01]
+ time_tolerance: 0.1
sensors:
-
- type: "ODOM 2D"
- name: "sen odom"
+ type: "ODOM 2D"
+ name: "sen odom"
extrinsic:
- pose: [0,0, 0]
- k_disp_to_disp: 0.1
- k_rot_to_rot: 0.1
+ pose: [0,0, 0]
+ k_disp_to_disp: 0.1
+ k_rot_to_rot: 0.1
-
- type: "RANGE BEARING"
- name: "sen rb"
+ type: "RANGE BEARING"
+ name: "sen rb"
extrinsic:
- pose: [1,1, 0, 0]
+ pose: [1,1, 0]
noise_range_metres_std: 0.1
noise_bearing_degrees_std: 0.5
@@ -42,12 +42,12 @@ config:
unmeasured_perturbation_std: 0.001
-
- type: "RANGE BEARING"
- name: "prc rb"
- sensor_name: "sen rb"
- voting_active: false
+ type: "RANGE BEARING"
+ name: "prc rb"
+ sensor_name: "sen rb"
+ voting_active: false
voting_aux_active: false
- time_tolerance: 0.1
+ time_tolerance: 0.1
files:
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 5685c411998415689aa8d795b4f8c61417382f3d..654e3fbfe4a28a59a1bc7454ece77d2c871fbfd4 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -115,22 +115,22 @@ ProcessorBasePtr ProcessorRangeBearing::create(const std::string& _unique_name,
return prc;
}
-ProcessorBasePtr ProcessorRangeBearing::createAutoConf(const std::string& _unique_name,
- const ParamsServer& _server,
- const SensorBasePtr _sensor_ptr)
-{
- SensorRangeBearingPtr sensor_rb = std::static_pointer_cast<SensorRangeBearing>(_sensor_ptr);
- ProcessorParamsRangeBearingPtr params = std::make_shared<ProcessorParamsRangeBearing>(_unique_name, _server);
-
- // construct processor
- ProcessorRangeBearingPtr prc = std::make_shared<ProcessorRangeBearing>(sensor_rb, params);
-
- // setup processor
- prc->setName(_unique_name);
-
- return prc;
-}
-
+//ProcessorBasePtr ProcessorRangeBearing::createAutoConf(const std::string& _unique_name,
+// const ParamsServer& _server,
+// const SensorBasePtr _sensor_ptr)
+//{
+// SensorRangeBearingPtr sensor_rb = std::static_pointer_cast<SensorRangeBearing>(_sensor_ptr);
+// ProcessorParamsRangeBearingPtr params = std::make_shared<ProcessorParamsRangeBearing>(_unique_name, _server);
+//
+// // construct processor
+// ProcessorRangeBearingPtr prc = std::make_shared<ProcessorRangeBearing>(sensor_rb, params);
+//
+// // setup processor
+// prc->setName(_unique_name);
+//
+// return prc;
+//}
+//
Eigen::Vector2s ProcessorRangeBearing::observe(const Eigen::Vector2s& lmk_w) const
{
return polar(toSensor(lmk_w));
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 2bc4767c14f0c9619534d3bd6f6ae1dc5d4f506b..2c7002bdcbf7c4b8a113e4b58d8fbd087bac0efa 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -53,9 +53,10 @@ class ProcessorRangeBearing : public ProcessorBase
static ProcessorBasePtr create(const std::string& _unique_name,
const ProcessorParamsBasePtr _params,
const SensorBasePtr sensor_ptr = nullptr);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
- const ParamsServer& _server,
- const SensorBasePtr _sensor_ptr = nullptr);
+// static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
+// const ParamsServer& _server,
+// const SensorBasePtr _sensor_ptr = nullptr);
+ WOLF_CREATE_PROCESSOR_AUTO(ProcessorRangeBearing, ProcessorParamsRangeBearing, SensorRangeBearing);
protected:
// Implementation of pure virtuals from ProcessorBase
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 3537f96032ba64bbbb901f722bd64bdf10bbe0ab..bbda7ba8345cf4f0cc27fbf2ede72c122afb06ee 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -19,6 +19,37 @@ class SensorBase;
namespace wolf {
+/*
+ * Macro for defining Autoconf processor creator.
+ *
+ * In order to use this macro, the derived processor class, ProcessorClass,
+ * must have a constructor available with one of the following APIs:
+ *
+ * ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsClassPtr _params);
+ * ProcessorClass(const SensorClassPtr _sensor, const ProcessorParamsBasePtr _params);
+ * ProcessorClass(const SensorBasePtr _sensor, const ProcessorParamsClassPtr _params);
+ * ProcessorClass(const SensorBasePtr _sensor, const ProcessorParamsBasePtr _params);
+ *
+ * We recommend writing one of such constructors in your derived processors.
+ */
+#define WOLF_CREATE_PROCESSOR_AUTO(ProcessorClass, ProcessorParamsClass, SensorClass) \
+static ProcessorBasePtr createAutoConf(const std::string& _unique_name, \
+ const ParamsServer& _server, \
+ const SensorBasePtr _sensor) \
+{ \
+ auto sensor = std::static_pointer_cast<SensorClass>(_sensor); \
+ auto params = std::make_shared<ProcessorParamsClass>(_unique_name, _server); \
+ \
+ auto processor = std::make_shared<ProcessorClass>(sensor, params); \
+ \
+ processor ->setName(_unique_name); \
+ \
+ return processor; \
+}
+
+
+
+
/** \brief Key frame class pack
*
* To store a key_frame with an associated time tolerance.
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index d31326fc27e724d6a3e81e34ae1a3bdd85e06494..18fe0568e40df4f914e3dd3aba7a55b706fe2c15 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -22,10 +22,13 @@ namespace wolf {
/*
* Macro for defining Autoconf sensor creator.
*
- * In order to use this macro, the derived sensor class, SensorClass, must have a constructor available like so:
+ * In order to use this macro, the derived sensor class, SensorClass,
+ * must have a constructor available with one of the following APIs:
*
* SensorClass(const VectorXs & _extrinsics, const IntrinsicsClassPtr _intrinsics);
+ * SensorClass(const VectorXs & _extrinsics, const IntrinsicsBasePtr _intrinsics);
*
+ * We recommend writing one of such constructors in your derived sensors.
*/
#define WOLF_CREATE_SENSOR_AUTO(SensorClass, IntrinsicsClass, ExtrinsicsSize) \
static SensorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server) \