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Commit 781002c6 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Rename FactorRelative2dAnalytic -> FactorRelativePose2d

parent f60905d4
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1 merge request!406Resolve "Factors renaming"
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CMakeLists.txt
+ 1
− 1
View file @ 781002c6
......@@ -228,7 +228,7 @@ SET(HDRS_FACTOR
include/core/factor/factor_pose_2d.h
include/core/factor/factor_pose_3d.h
include/core/factor/factor_quaternion_absolute.h
include/core/factor/factor_relative_2d_analytic.h
include/core/factor/factor_relative_pose_2d.h
include/core/factor/factor_relative_pose_2d_with_extrinsics.h
)
SET(HDRS_FEATURE
......
include/core/factor/factor_odom_2d.h
+ 3
− 3
View file @ 781002c6
......@@ -2,7 +2,7 @@
#define FACTOR_ODOM_2d_H_
//Wolf includes
#include "core/factor/factor_relative_2d_analytic.h"
#include "core/factor/factor_relative_pose_2d.h"
#include <Eigen/StdVector>
namespace wolf {
......@@ -10,7 +10,7 @@ namespace wolf {
WOLF_PTR_TYPEDEFS(FactorOdom2d);
//class
class FactorOdom2d : public FactorRelative2dAnalytic
class FactorOdom2d : public FactorRelativePose2d
{
public:
FactorOdom2d(const FeatureBasePtr& _ftr_ptr,
......@@ -18,7 +18,7 @@ class FactorOdom2d : public FactorRelative2dAnalytic
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE) :
FactorRelative2dAnalytic("FactorOdom2d",
FactorRelativePose2d("FactorOdom2d",
_ftr_ptr,
_frame_ptr,
_processor_ptr,
......
include/core/factor/factor_relative_2d_analytic.h → include/core/factor/factor_relative_pose_2d.h
+ 12
− 12
View file @ 781002c6
#ifndef FACTOR_RELATIVE_2d_ANALYTIC_H_
#define FACTOR_RELATIVE_2d_ANALYTIC_H_
#ifndef FACTOR_RELATIVE_POSE_2d_H_
#define FACTOR_RELATIVE_POSE_2d_H_
//Wolf includes
#include "core/factor/factor_analytic.h"
......@@ -9,16 +9,16 @@
namespace wolf {
WOLF_PTR_TYPEDEFS(FactorRelative2dAnalytic);
WOLF_PTR_TYPEDEFS(FactorRelativePose2d);
//class
class FactorRelative2dAnalytic : public FactorAnalytic
class FactorRelativePose2d : public FactorAnalytic
{
public:
/** \brief Constructor of category FAC_FRAME
**/
FactorRelative2dAnalytic(const std::string& _tp,
FactorRelativePose2d(const std::string& _tp,
const FeatureBasePtr& _ftr_ptr,
const FrameBasePtr& _frame_other_ptr,
const ProcessorBasePtr& _processor_ptr,
......@@ -43,7 +43,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
/** \brief Constructor of category FAC_FEATURE
**/
FactorRelative2dAnalytic(const std::string& _tp,
FactorRelativePose2d(const std::string& _tp,
const FeatureBasePtr& _ftr_ptr,
const FeatureBasePtr& _ftr_other_ptr,
const ProcessorBasePtr& _processor_ptr,
......@@ -68,7 +68,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
/** \brief Constructor of category FAC_LANDMARK
**/
FactorRelative2dAnalytic(const std::string& _tp,
FactorRelativePose2d(const std::string& _tp,
const FeatureBasePtr& _ftr_ptr,
const LandmarkBasePtr& _landmark_other_ptr,
const ProcessorBasePtr& _processor_ptr,
......@@ -96,7 +96,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
return std::string("GEOM");
}
~FactorRelative2dAnalytic() override = default;
~FactorRelativePose2d() override = default;
/** \brief Returns the factor residual size
**/
......@@ -139,7 +139,7 @@ class FactorRelative2dAnalytic : public FactorAnalytic
/// IMPLEMENTATION ///
inline Eigen::VectorXd FactorRelative2dAnalytic::evaluateResiduals(
inline Eigen::VectorXd FactorRelativePose2d::evaluateResiduals(
const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector) const
{
Eigen::VectorXd residual(3);
......@@ -155,7 +155,7 @@ inline Eigen::VectorXd FactorRelative2dAnalytic::evaluateResiduals(
return residual;
}
inline void FactorRelative2dAnalytic::evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector,
inline void FactorRelativePose2d::evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd> >& _st_vector,
std::vector<Eigen::Map<Eigen::MatrixRowXd> >& jacobians,
const std::vector<bool>& _compute_jacobian) const
{
......@@ -191,7 +191,7 @@ inline void FactorRelative2dAnalytic::evaluateJacobians(const std::vector<Eigen:
}
}
inline void FactorRelative2dAnalytic::evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
inline void FactorRelativePose2d::evaluateJacobians(const std::vector<Eigen::Map<const Eigen::VectorXd>>& _st_vector,
std::vector<Eigen::MatrixXd>& jacobians,
const std::vector<bool>& _compute_jacobian) const
{
......@@ -227,7 +227,7 @@ inline void FactorRelative2dAnalytic::evaluateJacobians(const std::vector<Eigen:
}
}
inline void FactorRelative2dAnalytic::evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const
inline void FactorRelativePose2d::evaluatePureJacobians(std::vector<Eigen::MatrixXd>& jacobians) const
{
assert(jacobians.size() == 4);
......
test/CMakeLists.txt
+ 4
− 4
View file @ 781002c6
......@@ -201,14 +201,14 @@ target_link_libraries(gtest_factor_pose_2d ${PLUGIN_NAME})
wolf_add_gtest(gtest_factor_pose_3d gtest_factor_pose_3d.cpp)
target_link_libraries(gtest_factor_pose_3d ${PLUGIN_NAME})
# FactorRelativePose2d class test
wolf_add_gtest(gtest_factor_relative_pose_2d gtest_factor_relative_pose_2d.cpp)
target_link_libraries(gtest_factor_relative_pose_2d ${PLUGIN_NAME})
# FactorRelativePose2dWithExtrinsics class test
wolf_add_gtest(gtest_factor_relative_pose_2d_with_extrinsics gtest_factor_relative_pose_2d_with_extrinsics.cpp)
target_link_libraries(gtest_factor_relative_pose_2d_with_extrinsics ${PLUGIN_NAME})
# FactorRelative2dAnalytic class test
wolf_add_gtest(gtest_factor_relative_2d_analytic gtest_factor_relative_2d_analytic.cpp)
target_link_libraries(gtest_factor_relative_2d_analytic ${PLUGIN_NAME})
# MakePosDef function test
wolf_add_gtest(gtest_make_posdef gtest_make_posdef.cpp)
target_link_libraries(gtest_make_posdef ${PLUGIN_NAME})
......
test/gtest_factor_relative_2d_analytic.cpp → test/gtest_factor_relative_pose_2d.cpp
+ 6
− 6
View file @ 781002c6
#include "../include/core/ceres_wrapper/solver_ceres.h"
#include "core/utils/utils_gtest.h"
#include "core/factor/factor_relative_2d_analytic.h"
#include "core/factor/factor_relative_pose_2d.h"
#include "core/capture/capture_odom_2d.h"
#include "core/math/rotations.h"
......@@ -25,12 +25,12 @@ FrameBasePtr frm1 = problem_ptr->emplaceFrame(1.0, Vector3d::Zero());
// Capture from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, nullptr, Vector3d::Zero(), data_cov);
TEST(FactorRelative2dAnalytic, check_tree)
TEST(FactorRelativePose2d, check_tree)
{
ASSERT_TRUE(problem_ptr->check(0));
}
TEST(FactorRelative2dAnalytic, fix_0_solve)
TEST(FactorRelativePose2d, fix_0_solve)
{
for (int i = 0; i < 1e3; i++)
{
......@@ -54,7 +54,7 @@ TEST(FactorRelative2dAnalytic, fix_0_solve)
// feature & factor with delta measurement
auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
FactorBase::emplace<FactorRelative2dAnalytic>(fea1, "odom2d", fea1, frm0, nullptr, false);
FactorBase::emplace<FactorRelativePose2d>(fea1, "odom2d", fea1, frm0, nullptr, false);
// Fix frm0, perturb frm1
frm0->fix();
......@@ -71,7 +71,7 @@ TEST(FactorRelative2dAnalytic, fix_0_solve)
}
}
TEST(FactorRelative2dAnalytic, fix_1_solve)
TEST(FactorRelativePose2d, fix_1_solve)
{
for (int i = 0; i < 1e3; i++)
{
......@@ -95,7 +95,7 @@ TEST(FactorRelative2dAnalytic, fix_1_solve)
// feature & factor with delta measurement
auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
FactorBase::emplace<FactorRelative2dAnalytic>(fea1, "odom2d", fea1, frm0, nullptr, false);
FactorBase::emplace<FactorRelativePose2d>(fea1, "odom2d", fea1, frm0, nullptr, false);
// Fix frm1, perturb frm0
frm1->fix();
......
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