diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9002bc5e8e89f7cd320d88b07d5359571948631..8342ba0d92db200763dd71e0bba90b9dbb3641dd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -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
diff --git a/include/core/factor/factor_odom_2d.h b/include/core/factor/factor_odom_2d.h
index e79aaacdbdad0c49d18c74e05dc9b56a340ac801..b59cc723c7f8218ee39b18e0a160ece3b6eda74b 100644
--- a/include/core/factor/factor_odom_2d.h
+++ b/include/core/factor/factor_odom_2d.h
@@ -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,
diff --git a/include/core/factor/factor_relative_2d_analytic.h b/include/core/factor/factor_relative_pose_2d.h
similarity index 93%
rename from include/core/factor/factor_relative_2d_analytic.h
rename to include/core/factor/factor_relative_pose_2d.h
index dfb06c429b10e205ffe93146269f32a05d664a7d..72e77ea03eb9989058c597bc02a13a32ac9d9cc6 100644
--- a/include/core/factor/factor_relative_2d_analytic.h
+++ b/include/core/factor/factor_relative_pose_2d.h
@@ -1,5 +1,5 @@
-#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);
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 4363e38a4d4df67a73ce92086b7a3ae071c4a561..2e7d21c96e9061674a1d5108e45913f298994a3e 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -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})
diff --git a/test/gtest_factor_relative_2d_analytic.cpp b/test/gtest_factor_relative_pose_2d.cpp
similarity index 88%
rename from test/gtest_factor_relative_2d_analytic.cpp
rename to test/gtest_factor_relative_pose_2d.cpp
index 70cbc464716d50d60bb8ad05cfdb1a4bd6f79d95..8a46caebb25d6ffc0d50d779fcd7642c11140074 100644
--- a/test/gtest_factor_relative_2d_analytic.cpp
+++ b/test/gtest_factor_relative_pose_2d.cpp
@@ -1,7 +1,7 @@
#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();