From 7ac28effc6ebd085a8862a1f1c1b4af1c33b14f7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 26 Jan 2018 13:02:13 +0100
Subject: [PATCH] Rename CaptureFix -> CapturePose
---
src/capture_pose.cpp | 12 ++++++------
src/capture_pose.h | 2 +-
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/src/capture_pose.cpp b/src/capture_pose.cpp
index dda2327f3..c8422aa32 100644
--- a/src/capture_pose.cpp
+++ b/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.");
}
diff --git a/src/capture_pose.h b/src/capture_pose.h
index 2a843375f..9d47d39c9 100644
--- a/src/capture_pose.h
+++ b/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
//
--
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