From 744badcc44c85b95087967c07db6d2acdc65a73c Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 8 Jul 2024 17:02:56 +0200
Subject: [PATCH] [skip ci] sensors do not have dimension compatible, only
processors
---
include/core/processor/processor_base.h | 4 ++--
include/core/sensor/sensor_base.h | 10 ----------
include/core/sensor/sensor_odom.h | 1 -
include/core/sensor/sensor_pose.h | 1 -
src/problem/problem.cpp | 8 --------
src/processor/processor_base.cpp | 2 +-
src/sensor/sensor_diff_drive.cpp | 2 +-
src/sensor/sensor_motion_model.cpp | 2 +-
8 files changed, 5 insertions(+), 25 deletions(-)
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index f52aa0dd8..991aecca3 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -150,10 +150,10 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
*
* \param _type TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: type name
* \param _dim_compatible TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR:
- * Which dimension is the sensor compatible (2: 2D, 3: 3D, -1: both)
+ * Which dimension is the processor compatible (2: 2D, 3: 3D, 0: both)
* \param _params params yaml node
*/
- ProcessorBase(const std::string& _type, int _dim_compatible, const YAML::Node& _params);
+ ProcessorBase(const std::string& _type, unsigned int _dim_compatible, const YAML::Node& _params);
~ProcessorBase() override;
virtual void configure(SensorBasePtr _sensor) = 0;
virtual void remove();
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 94c6ceef2..064c16aa2 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -129,22 +129,18 @@ class SensorBase : public NodeStateBlocks
std::map<char, Eigen::VectorXd>
drifts_std_rate_; ///< std rate of the drift of dynamic state blocks [unit/sqrt(s)]
YAML::Node params_; ///< Params yaml node
- unsigned int dim_compatible_; ///< Dimension compatibility of the sensor: 2: 2D, 3: 3D, 0: both
void setProblem(ProblemPtr _problem) override final;
/** \brief Constructor
*
* \param _type TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: derived class name
- * \param _dim_compatible TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: Which dimension is the
- * sensor compatible with (2: 2D, 3: 3D, -1: both)
* \param _state_types TO BE HARDCODED IN THE DERIVED CLASS CONSTRUCTOR: Composite of keys and types of the states
* of the sensor.
* \param _params params yaml node
*
**/
SensorBase(const std::string& _type,
- const int& _dim_compatible,
const TypeComposite& _state_types,
const YAML::Node& _params);
@@ -152,7 +148,6 @@ class SensorBase : public NodeStateBlocks
~SensorBase() override;
unsigned int id() const override;
- unsigned int getDimCompatible() const;
HardwareBaseConstPtr getHardware() const;
HardwareBasePtr getHardware();
@@ -283,11 +278,6 @@ inline unsigned int SensorBase::id() const
return sensor_id_;
}
-inline unsigned int SensorBase::getDimCompatible() const
-{
- return dim_compatible_;
-}
-
inline ProcessorBaseConstPtrList SensorBase::getProcessorList() const
{
ProcessorBaseConstPtrList list_const;
diff --git a/include/core/sensor/sensor_odom.h b/include/core/sensor/sensor_odom.h
index 78798fd3f..b1f35aa26 100644
--- a/include/core/sensor/sensor_odom.h
+++ b/include/core/sensor/sensor_odom.h
@@ -33,7 +33,6 @@ class SensorOdom : public SensorBase
SensorOdom(const YAML::Node& _params)
: SensorBase(
"SensorOdom" + std::to_string(DIM) + "d",
- DIM,
{{'P', DIM == 2 ? "StatePoint2d" : "StatePoint3d"}, {'O', DIM == 2 ? "StateAngle" : "StateQuaternion"}},
_params)
{
diff --git a/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index 043e0d281..0cee11fe8 100644
--- a/include/core/sensor/sensor_pose.h
+++ b/include/core/sensor/sensor_pose.h
@@ -33,7 +33,6 @@ class SensorPose : public SensorBase
SensorPose(const YAML::Node& _params)
: SensorBase(
"SensorPose" + std::to_string(DIM) + "d",
- DIM,
{{'P', DIM == 2 ? "StatePoint2d" : "StatePoint3d"}, {'O', DIM == 2 ? "StateAngle" : "StateQuaternion"}},
_params)
{
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 457efea29..766edef8f 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -211,10 +211,6 @@ SensorBasePtr Problem::installSensor(const YAML::Node& _sensor_node, std::vector
if (not sen_ptr) throw std::runtime_error("Sensor could not be created.");
- // Dimension check
- if (sen_ptr->getDimCompatible() != 0 and sen_ptr->getDimCompatible() != this->getDim())
- throw std::runtime_error("Sensor not compatible with the Problem dimension.");
-
// Link
sen_ptr->link(getHardware());
return sen_ptr;
@@ -256,10 +252,6 @@ SensorBasePtr Problem::installSensor(const std::string& _params_yaml_filen
if (not sen_ptr) throw std::runtime_error("Sensor could not be created.");
- // Dimension check
- if (sen_ptr->getDimCompatible() != 0 and sen_ptr->getDimCompatible() != this->getDim())
- throw std::runtime_error("Sensor not compatible with the Problem dimension.");
-
// Link
sen_ptr->link(getHardware());
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index d41616968..dcfe946e5 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -27,7 +27,7 @@ namespace wolf
{
unsigned int ProcessorBase::processor_id_count_ = 0;
-ProcessorBase::ProcessorBase(const std::string& _type, int _dim_compatible, const YAML::Node& _params)
+ProcessorBase::ProcessorBase(const std::string& _type, unsigned int _dim_compatible, const YAML::Node& _params)
: NodeBase("PROCESSOR", _type, _params["name"].as<std::string>()),
processor_id_(++processor_id_count_),
params_(Clone(_params)),
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 05b5455d1..b02bfa776 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -25,7 +25,7 @@
namespace wolf
{
SensorDiffDrive::SensorDiffDrive(const YAML::Node& _params)
- : SensorBase("SensorDiffDrive", 2, {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'I', "StateParams3"}}, _params),
+ : SensorBase("SensorDiffDrive", {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'I', "StateParams3"}}, _params),
ticks_per_wheel_revolution_(_params["ticks_per_wheel_revolution"].as<double>()),
ticks_std_factor_(_params["ticks_std_factor"].as<double>())
{
diff --git a/src/sensor/sensor_motion_model.cpp b/src/sensor/sensor_motion_model.cpp
index da0e6f226..69273807a 100644
--- a/src/sensor/sensor_motion_model.cpp
+++ b/src/sensor/sensor_motion_model.cpp
@@ -22,7 +22,7 @@
namespace wolf
{
-SensorMotionModel::SensorMotionModel(const YAML::Node& _params) : SensorBase("SensorMotionModel", -1, {}, _params) {}
+SensorMotionModel::SensorMotionModel(const YAML::Node& _params) : SensorBase("SensorMotionModel", {}, _params) {}
SensorMotionModel::~SensorMotionModel() {}
--
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