Rename CaptureFix -> CapturePose

src/capture_pose.cpp

@@ -3,7 +3,7 @@
 namespace wolf{
 
 CapturePose::CapturePose(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance) :
-	CaptureBase("FIX", _ts, _sensor_ptr),
+	CaptureBase("POSE", _ts, _sensor_ptr),
 	data_(_data),
 	data_covariance_(_data_covariance)
 {
@@ -18,16 +18,16 @@ CapturePose::~CapturePose()
 void CapturePose::emplaceFeatureAndConstraint()
 {
     // Emplace feature
-    FeatureFixPtr feature_fix = std::make_shared<FeatureFix>(data_,data_covariance_);
-    addFeature(feature_fix);
+    FeaturePosePtr feature_pose = std::make_shared<FeaturePose>(data_,data_covariance_);
+    addFeature(feature_pose);
 
     // Emplace constraint
     if (data_.size() == 3 && data_covariance_.rows() == 3 && data_covariance_.cols() == 3 )
-        feature_fix->addConstraint(std::make_shared<ConstraintPose2D>(feature_fix));
+        feature_pose->addConstraint(std::make_shared<ConstraintPose2D>(feature_pose));
     else if (data_.size() == 7 && data_covariance_.rows() == 6 && data_covariance_.cols() == 6 )
-        feature_fix->addConstraint(std::make_shared<ConstraintPose3D>(feature_fix));
+        feature_pose->addConstraint(std::make_shared<ConstraintPose3D>(feature_pose));
     else
-        throw std::runtime_error("Wrong data size in CaptureFix. Use 3 for 2D. Use 7 for 3D.");
+        throw std::runtime_error("Wrong data size in CapturePose. Use 3 for 2D. Use 7 for 3D.");
 }
 
 

src/capture_pose.h

@@ -3,9 +3,9 @@
 
 //Wolf includes
 #include "capture_base.h"
-#include "feature_fix.h"
 #include "constraint_pose_2D.h"
 #include "constraint_pose_3D.h"
+#include "feature_pose.h"
 
 //std includes
 //