From 795c3c5adc590b3b50bca3b30ab1fedf6fe96e93 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 2 Nov 2021 13:40:17 +0100
Subject: [PATCH] new sensor for motion models
---
CMakeLists.txt | 2 ++
include/core/sensor/sensor_model.h | 38 ++++++++++++++++++++++++++++++
src/sensor/sensor_model.cpp | 24 +++++++++++++++++++
3 files changed, 64 insertions(+)
create mode 100644 include/core/sensor/sensor_model.h
create mode 100644 src/sensor/sensor_model.cpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e01bf02de..94c02b1fd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -265,6 +265,7 @@ SET(HDRS_SENSOR
include/core/sensor/sensor_base.h
include/core/sensor/sensor_diff_drive.h
include/core/sensor/factory_sensor.h
+ include/core/sensor/sensor_model.h
include/core/sensor/sensor_odom_2d.h
include/core/sensor/sensor_odom_3d.h
include/core/sensor/sensor_pose.h
@@ -362,6 +363,7 @@ SET(SRCS_PROCESSOR
SET(SRCS_SENSOR
src/sensor/sensor_base.cpp
src/sensor/sensor_diff_drive.cpp
+ src/sensor/sensor_model.cpp
src/sensor/sensor_odom_2d.cpp
src/sensor/sensor_odom_3d.cpp
src/sensor/sensor_pose.cpp
diff --git a/include/core/sensor/sensor_model.h b/include/core/sensor/sensor_model.h
new file mode 100644
index 000000000..5e2a37df7
--- /dev/null
+++ b/include/core/sensor/sensor_model.h
@@ -0,0 +1,38 @@
+#ifndef SRC_SENSOR_MODEL_H_
+#define SRC_SENSOR_MODEL_H_
+
+//wolf includes
+#include "core/sensor/sensor_base.h"
+
+namespace wolf {
+
+WOLF_PTR_TYPEDEFS(SensorModel);
+
+class SensorModel : public SensorBase
+{
+ public:
+ SensorModel();
+ ~SensorModel() override;
+
+ static SensorBasePtr create(const std::string& _unique_name,
+ const ParamsServer& _server)
+ {
+ auto sensor = std::make_shared<SensorModel>();
+ sensor ->setName(_unique_name);
+ return sensor;
+ }
+
+ static SensorBasePtr create(const std::string& _unique_name,
+ const Eigen::VectorXd& _extrinsics,
+ const ParamsSensorBasePtr _intrinsics)
+ {
+ auto sensor = std::make_shared<SensorModel>();
+ sensor ->setName(_unique_name);
+ return sensor;
+ }
+};
+
+
+} /* namespace wolf */
+
+#endif /* SRC_SENSOR_POSE_H_ */
diff --git a/src/sensor/sensor_model.cpp b/src/sensor/sensor_model.cpp
new file mode 100644
index 000000000..6eb00f021
--- /dev/null
+++ b/src/sensor/sensor_model.cpp
@@ -0,0 +1,24 @@
+#include "core/sensor/sensor_model.h"
+
+namespace wolf {
+
+
+SensorModel::SensorModel() :
+ SensorBase("SensorModel", nullptr, nullptr, nullptr, 6)
+{
+ //
+}
+
+SensorModel::~SensorModel()
+{
+ //
+}
+
+} // namespace wolf
+
+// Register in the FactorySensor
+#include "core/sensor/factory_sensor.h"
+namespace wolf {
+WOLF_REGISTER_SENSOR(SensorModel);
+WOLF_REGISTER_SENSOR_AUTO(SensorModel);
+}
--
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