From 7d04f567be01da27adac964ff4aa03ba46182eb3 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 11 Nov 2021 11:27:15 +0100
Subject: [PATCH] Add inline keyword
---
include/core/capture/capture_base.h | 4 ++--
include/core/capture/capture_motion.h | 4 ++--
include/core/common/time_stamp.h | 2 +-
include/core/factor/factor_base.h | 2 +-
include/core/feature/feature_base.h | 4 ++--
include/core/frame/frame_base.h | 2 +-
include/core/landmark/landmark_base.h | 2 +-
include/core/math/covariance.h | 2 +-
include/core/math/rotations.h | 6 +++---
include/core/problem/problem.h | 2 +-
include/core/processor/factory_processor.h | 4 ++--
include/core/processor/is_motion.h | 2 +-
include/core/processor/processor_base.h | 2 +-
include/core/processor/processor_diff_drive.h | 2 +-
include/core/processor/processor_fix_wing_model.h | 4 ++--
include/core/processor/processor_motion.h | 4 ++--
include/core/processor/processor_odom_2d.h | 2 +-
include/core/processor/processor_tracker.h | 2 +-
include/core/sensor/sensor_base.h | 2 +-
include/core/sensor/sensor_diff_drive.h | 4 ++--
include/core/solver/factory_solver.h | 2 +-
include/core/state_block/has_state_blocks.h | 8 ++++----
include/core/state_block/state_composite.h | 14 +++++++-------
include/core/tree_manager/factory_tree_manager.h | 4 ++--
.../tree_manager/tree_manager_sliding_window.h | 2 +-
.../tree_manager_sliding_window_dual_rate.h | 2 +-
src/processor/is_motion.cpp | 6 +++++-
27 files changed, 50 insertions(+), 46 deletions(-)
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index 68d34c20b..9597b94c9 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -118,7 +118,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
void removeFeature(FeatureBasePtr _ft_ptr);
};
-}
+} // namespace wolf
#include "core/sensor/sensor_base.h"
#include "core/frame/frame_base.h"
@@ -128,7 +128,7 @@ class CaptureBase : public NodeBase, public HasStateBlocks, public std::enable_s
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<classType> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
+inline std::shared_ptr<classType> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
{
std::shared_ptr<classType> cpt = std::make_shared<classType>(std::forward<T>(all)...);
cpt->link(_frm_ptr);
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index c0d86ee10..b0e13a6ad 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -155,12 +155,12 @@ inline Eigen::MatrixXd CaptureMotion::getJacobianCalib(const TimeStamp& _ts) con
return getBuffer().getMotion(_ts).jacobian_calib_;
}
-inline wolf::CaptureBasePtr CaptureMotion::getOriginCapture()
+inline CaptureBasePtr CaptureMotion::getOriginCapture()
{
return capture_origin_ptr_.lock();
}
-inline wolf::CaptureBasePtr CaptureMotion::getOriginCapture() const
+inline CaptureBasePtr CaptureMotion::getOriginCapture() const
{
return capture_origin_ptr_.lock();
}
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 2643f13c8..f02c16678 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -185,7 +185,7 @@ class TimeStamp
};
-inline wolf::TimeStamp TimeStamp::Invalid ( )
+inline TimeStamp TimeStamp::Invalid ( )
{
return TimeStamp(-1.0);
}
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index e3dd39803..a1fd254f4 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -258,7 +258,7 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<classType> FactorBase::emplace(FeatureBasePtr _ftr_ptr, T&&... all)
+inline std::shared_ptr<classType> FactorBase::emplace(FeatureBasePtr _ftr_ptr, T&&... all)
{
std::shared_ptr<classType> ctr = std::make_shared<classType>(std::forward<T>(all)...);
ctr->link(_ftr_ptr);
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 43735ff44..ff56500d2 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -138,7 +138,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
virtual void removeConstrainedBy(FactorBasePtr _fac_ptr);
};
-}
+} // namespace wolf
// IMPLEMENTATION
@@ -147,7 +147,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
namespace wolf{
template<typename classType, typename... T>
- std::shared_ptr<classType> FeatureBase::emplace(CaptureBasePtr _cpt_ptr, T&&... all)
+ inline std::shared_ptr<classType> FeatureBase::emplace(CaptureBasePtr _cpt_ptr, T&&... all)
{
std::shared_ptr<classType> ftr = std::make_shared<classType>(std::forward<T>(all)...);
ftr->link(_cpt_ptr);
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 7234284a5..6b93d33d5 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -162,7 +162,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
namespace wolf {
template<typename classType, typename... T>
-std::shared_ptr<classType> FrameBase::emplace(TrajectoryBasePtr _ptr, T&&... all)
+inline std::shared_ptr<classType> FrameBase::emplace(TrajectoryBasePtr _ptr, T&&... all)
{
std::shared_ptr<classType> frm = std::make_shared<classType>(std::forward<T>(all)...);
frm->link(_ptr);
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 21098d332..82501dead 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -118,7 +118,7 @@ class LandmarkBase : public NodeBase, public HasStateBlocks, public std::enable_
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<classType> LandmarkBase::emplace(MapBasePtr _map_ptr, T&&... all)
+inline std::shared_ptr<classType> LandmarkBase::emplace(MapBasePtr _map_ptr, T&&... all)
{
std::shared_ptr<classType> lmk = std::make_shared<classType>(std::forward<T>(all)...);
lmk->link(_map_ptr);
diff --git a/include/core/math/covariance.h b/include/core/math/covariance.h
index 45cbdf3e1..da6f8b5d1 100644
--- a/include/core/math/covariance.h
+++ b/include/core/math/covariance.h
@@ -14,7 +14,7 @@ namespace wolf{
template <typename T, int N, int RC>
inline bool isSymmetric(const Eigen::Matrix<T, N, N, RC>& M,
- const T eps = wolf::Constants::EPS)
+ const T eps = Constants::EPS)
{
return M.isApprox(M.transpose(), eps);
}
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index a0a86c6ee..c95969f24 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -263,7 +263,7 @@ exp_q(const Eigen::MatrixBase<Derived>& _v)
T angle_squared = _v.squaredNorm();
T angle = sqrt(angle_squared); // Allow ceres::Jet to use its own sqrt() version.
- if (angle > (T)(wolf::Constants::EPS_SMALL))
+ if (angle > (T)(Constants::EPS_SMALL))
{
return Eigen::Quaternion<T> ( Eigen::AngleAxis<T>(angle, _v.normalized()) );
}
@@ -295,7 +295,7 @@ log_q(const Eigen::QuaternionBase<Derived>& _q)
Eigen::Matrix<T, 3, 1> vec = _q.vec();
const T sin_angle_squared = vec.squaredNorm();
- if (sin_angle_squared > (T)wolf::Constants::EPS_SMALL)
+ if (sin_angle_squared > (T)Constants::EPS_SMALL)
{
const T sin_angle = sqrt(sin_angle_squared); // Allow ceres::Jet to use its own sqrt() version.
const T& cos_angle = _q.w();
@@ -338,7 +338,7 @@ exp_R(const Eigen::MatrixBase<Derived>& _v)
T angle_squared = _v.squaredNorm();
T angle = sqrt(angle_squared); // Allow ceres::Jet to use its own sqrt() version.
- if (angle > wolf::Constants::EPS_SMALL)
+ if (angle > Constants::EPS_SMALL)
return Eigen::AngleAxis<T>(angle, _v.normalized()).toRotationMatrix();
else
return Eigen::Matrix<T, 3, 3>::Identity() + skew(_v);
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 3d0eba08b..bdd307572 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -451,7 +451,7 @@ inline SizeStd Problem::getStateBlockNotificationMapSize() const
return state_block_notification_map_.size();
}
-inline wolf::SizeStd Problem::getFactorNotificationMapSize() const
+inline SizeStd Problem::getFactorNotificationMapSize() const
{
std::lock_guard<std::mutex> lock(mut_notifications_);
return factor_notification_map_.size();
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index e36e85a6d..0ca893126 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -126,7 +126,7 @@ inline std::string FactoryParamsProcessor::getClass() const
#define WOLF_REGISTER_PROCESSOR(ProcessorType) \
namespace{ const bool WOLF_UNUSED ProcessorType##Registered = \
- wolf::FactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
+ FactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
typedef Factory<ProcessorBase,
const std::string&,
@@ -140,7 +140,7 @@ inline std::string AutoConfFactoryProcessor::getClass() const
#define WOLF_REGISTER_PROCESSOR_AUTO(ProcessorType) \
namespace{ const bool WOLF_UNUSED ProcessorType##AutoConfRegistered = \
- wolf::AutoConfFactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
+ AutoConfFactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
} /* namespace wolf */
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index a17ac88e7..8fd67b346 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -76,7 +76,7 @@ inline IsMotion::IsMotion(const StateStructure& _structure, ParamsIsMotionPtr _p
//
}
-inline wolf::VectorComposite IsMotion::getOdometry ( ) const
+inline VectorComposite IsMotion::getOdometry ( ) const
{
return odometry_;
}
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index bbb9d109f..c43677abe 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -457,7 +457,7 @@ inline double ProcessorBase::getTimeTolerance() const
}
template<typename classType, typename... T>
-std::shared_ptr<classType> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&... all)
+inline std::shared_ptr<classType> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&... all)
{
std::shared_ptr<classType> prc = std::make_shared<classType>(std::forward<T>(all)...);
prc->link(_sen_ptr);
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 7203ff3fd..feef4a0c2 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -18,7 +18,7 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorDiffDrive);
struct ParamsProcessorDiffDrive : public ParamsProcessorOdom2d
{
ParamsProcessorDiffDrive() = default;
- ParamsProcessorDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorDiffDrive(std::string _unique_name, const ParamsServer & _server) :
ParamsProcessorOdom2d(_unique_name, _server)
{
}
diff --git a/include/core/processor/processor_fix_wing_model.h b/include/core/processor/processor_fix_wing_model.h
index 8c2391735..46be12a4c 100644
--- a/include/core/processor/processor_fix_wing_model.h
+++ b/include/core/processor/processor_fix_wing_model.h
@@ -22,14 +22,14 @@ struct ParamsProcessorFixWingModel : public ParamsProcessorBase
double min_vel_norm;
ParamsProcessorFixWingModel() = default;
- ParamsProcessorFixWingModel(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorFixWingModel(std::string _unique_name, const ParamsServer & _server) :
ParamsProcessorBase(_unique_name, _server)
{
velocity_local = _server.getParam<Eigen::Vector3d> (prefix + _unique_name + "/velocity_local");
angle_stdev = _server.getParam<double> (prefix + _unique_name + "/angle_stdev");
min_vel_norm = _server.getParam<double> (prefix + _unique_name + "/min_vel_norm");
- assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixWingModel: 'velocity_local' must be normalized");
+ assert(std::abs(velocity_local.norm() - 1.0) < Constants::EPS && "ParamsProcessorFixWingModel: 'velocity_local' must be normalized");
}
std::string print() const override
{
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 207bacb8e..1e2cb1a08 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -250,10 +250,10 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
double updateDt();
void integrateOneStep();
void reintegrateBuffer(CaptureMotionPtr _capture_ptr) const;
- void splitBuffer(const wolf::CaptureMotionPtr& capture_source,
+ void splitBuffer(const CaptureMotionPtr& capture_source,
TimeStamp ts_split,
const FrameBasePtr& keyframe_target,
- const wolf::CaptureMotionPtr& capture_target) const;
+ const CaptureMotionPtr& capture_target) const;
/** Pre-process incoming Capture
*
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 254eded5c..835b026f7 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -24,7 +24,7 @@ struct ParamsProcessorOdom2d : public ParamsProcessorMotion
double cov_det = 1.0;
ParamsProcessorOdom2d() = default;
- ParamsProcessorOdom2d(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorOdom2d(std::string _unique_name, const ParamsServer & _server) :
ParamsProcessorMotion(_unique_name, _server)
{
cov_det = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/cov_det");
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 855d30ee2..cfec203bb 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -21,7 +21,7 @@ struct ParamsProcessorTracker : public ParamsProcessorBase
int max_new_features; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
ParamsProcessorTracker() = default;
- ParamsProcessorTracker(std::string _unique_name, const wolf::ParamsServer & _server):
+ ParamsProcessorTracker(std::string _unique_name, const ParamsServer & _server):
ParamsProcessorBase(_unique_name, _server)
{
min_features_for_keyframe = _server.getParam<unsigned int>(prefix + _unique_name + "/keyframe_vote/min_features_for_keyframe");
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index b80ac75c3..b11d8c617 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -271,7 +271,7 @@ class SensorBase : public NodeBase, public HasStateBlocks, public std::enable_sh
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<classType> SensorBase::emplace(HardwareBasePtr _hwd_ptr, T&&... all)
+inline std::shared_ptr<classType> SensorBase::emplace(HardwareBasePtr _hwd_ptr, T&&... all)
{
std::shared_ptr<classType> sen = std::make_shared<classType>(std::forward<T>(all)...);
sen->link(_hwd_ptr);
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 212a955b1..e396a7b5f 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -26,7 +26,7 @@ struct ParamsSensorDiffDrive : public ParamsSensorBase
double ticks_cov_factor;
ParamsSensorDiffDrive() = default;
- ParamsSensorDiffDrive(std::string _unique_name, const wolf::ParamsServer& _server)
+ ParamsSensorDiffDrive(std::string _unique_name, const ParamsServer& _server)
: ParamsSensorBase(_unique_name, _server)
{
radius_left = _server.getParam<double>(prefix + _unique_name + "/radius_left");
@@ -72,7 +72,7 @@ class SensorDiffDrive : public SensorBase
};
-inline wolf::ParamsSensorDiffDriveConstPtr SensorDiffDrive::getParams() const
+inline ParamsSensorDiffDriveConstPtr SensorDiffDrive::getParams() const
{
return params_diff_drive_;
}
diff --git a/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index 3e13e598f..2a21f6679 100644
--- a/include/core/solver/factory_solver.h
+++ b/include/core/solver/factory_solver.h
@@ -37,7 +37,7 @@ inline std::string FactorySolver::getClass() const
#define WOLF_REGISTER_SOLVER(SolverType) \
namespace{ const bool WOLF_UNUSED SolverType##Registered = \
- wolf::FactorySolver::registerCreator(#SolverType, SolverType::create); } \
+ FactorySolver::registerCreator(#SolverType, SolverType::create); } \
} /* namespace wolf */
diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index 418e0909f..71ef52dd8 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -57,7 +57,7 @@ class HasStateBlocks
template<typename ... Args>
StateBlockPtr emplaceStateBlock(const char& _sb_type, ProblemPtr _problem, Args&&... _args_of_base_state_block_constructor);
- // Register/remove state blocks to/from wolf::Problem
+ // Register/remove state blocks to/from Problem
void registerNewStateBlocks(ProblemPtr _problem) const;
void removeStateBlocks(ProblemPtr _problem);
@@ -161,7 +161,7 @@ inline bool HasStateBlocks::setStateBlock(const char _sb_type, const StateBlockP
return true; // success
}
-inline wolf::StateBlockPtr HasStateBlocks::getStateBlock(const char& _sb_type) const
+inline StateBlockPtr HasStateBlocks::getStateBlock(const char& _sb_type) const
{
auto it = state_block_map_.find(_sb_type);
if (it != state_block_map_.end())
@@ -170,12 +170,12 @@ inline wolf::StateBlockPtr HasStateBlocks::getStateBlock(const char& _sb_type) c
return nullptr;
}
-inline wolf::StateBlockPtr HasStateBlocks::getP() const
+inline StateBlockPtr HasStateBlocks::getP() const
{
return getStateBlock('P');
}
-inline wolf::StateBlockPtr HasStateBlocks::getO() const
+inline StateBlockPtr HasStateBlocks::getO() const
{
return getStateBlock('O');
}
diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index 0d83c63e5..7ca4f7d21 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -56,7 +56,7 @@ class VectorComposite : public std::unordered_map < char, Eigen::VectorXd >
* Usage:
*
* Eigen::VectorXd vec_eigen;
- * wolf::VectorComposite vec_comp;
+ * VectorComposite vec_comp;
*
* vec_comp.set( vec_eigen, "ab", {2,3} ); // vec_eigen must be at least size 5 !!
*
@@ -70,10 +70,10 @@ class VectorComposite : public std::unordered_map < char, Eigen::VectorXd >
bool includesStructure(const StateStructure &_structure) const;
- friend std::ostream& operator <<(std::ostream &_os, const wolf::VectorComposite &_x);
- friend wolf::VectorComposite operator +(const wolf::VectorComposite &_x, const wolf::VectorComposite &_y);
- friend wolf::VectorComposite operator -(const wolf::VectorComposite &_x, const wolf::VectorComposite &_y);
- friend wolf::VectorComposite operator -(const wolf::VectorComposite &_x);
+ friend std::ostream& operator <<(std::ostream &_os, const VectorComposite &_x);
+ friend VectorComposite operator +(const VectorComposite &_x, const VectorComposite &_y);
+ friend VectorComposite operator -(const VectorComposite &_x, const VectorComposite &_y);
+ friend VectorComposite operator -(const VectorComposite &_x);
};
@@ -335,7 +335,7 @@ inline unsigned int MatrixComposite::count(const char &_row, const char &_col) c
template<typename SB, typename ... Args>
-inline std::shared_ptr<SB> wolf::StateBlockComposite::emplace(const char &_sb_type,
+inline std::shared_ptr<SB> StateBlockComposite::emplace(const char &_sb_type,
Args &&... _args_of_derived_state_block_constructor)
{
assert(state_block_map_.count(_sb_type) == 0 && "Trying to add a state block with an existing type! Use setStateBlock instead.");
@@ -347,7 +347,7 @@ inline std::shared_ptr<SB> wolf::StateBlockComposite::emplace(const char &_sb_ty
}
template<typename ... Args>
-inline StateBlockPtr wolf::StateBlockComposite::emplace(const char &_sb_type,
+inline StateBlockPtr StateBlockComposite::emplace(const char &_sb_type,
Args &&... _args_of_base_state_block_constructor)
{
assert(state_block_map_.count(_sb_type) == 0 && "Trying to add a state block with an existing type! Use setStateBlock instead.");
diff --git a/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index c9e91935f..8de0c48cc 100644
--- a/include/core/tree_manager/factory_tree_manager.h
+++ b/include/core/tree_manager/factory_tree_manager.h
@@ -40,7 +40,7 @@ inline std::string FactoryTreeManager::getClass() const
#define WOLF_REGISTER_TREE_MANAGER(TreeManagerType) \
namespace{ const bool WOLF_UNUSED TreeManagerType##Registered = \
- wolf::FactoryTreeManager::registerCreator(#TreeManagerType, TreeManagerType::create); } \
+ FactoryTreeManager::registerCreator(#TreeManagerType, TreeManagerType::create); } \
typedef Factory<TreeManagerBase,
const std::string&,
@@ -54,7 +54,7 @@ inline std::string AutoConfFactoryTreeManager::getClass() const
#define WOLF_REGISTER_TREE_MANAGER_AUTO(TreeManagerType) \
namespace{ const bool WOLF_UNUSED TreeManagerType##AutoConfRegistered = \
- wolf::AutoConfFactoryTreeManager::registerCreator(#TreeManagerType, TreeManagerType::create); } \
+ AutoConfFactoryTreeManager::registerCreator(#TreeManagerType, TreeManagerType::create); } \
} /* namespace wolf */
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 16e58428d..1cd894c9d 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -12,7 +12,7 @@ WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindow)
struct ParamsTreeManagerSlidingWindow : public ParamsTreeManagerBase
{
ParamsTreeManagerSlidingWindow() = default;
- ParamsTreeManagerSlidingWindow(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsTreeManagerSlidingWindow(std::string _unique_name, const ParamsServer & _server) :
ParamsTreeManagerBase(_unique_name, _server)
{
n_frames = _server.getParam<unsigned int>(prefix + "/n_frames");
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index f0e20f4b5..015a3fce4 100644
--- a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -12,7 +12,7 @@ WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindowDualRate)
struct ParamsTreeManagerSlidingWindowDualRate : public ParamsTreeManagerSlidingWindow
{
ParamsTreeManagerSlidingWindowDualRate() = default;
- ParamsTreeManagerSlidingWindowDualRate(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsTreeManagerSlidingWindowDualRate(std::string _unique_name, const ParamsServer & _server) :
ParamsTreeManagerSlidingWindow(_unique_name, _server)
{
n_frames_recent = _server.getParam<unsigned int>(prefix + "/n_frames_recent");
diff --git a/src/processor/is_motion.cpp b/src/processor/is_motion.cpp
index 57333a055..484d083c4 100644
--- a/src/processor/is_motion.cpp
+++ b/src/processor/is_motion.cpp
@@ -1,7 +1,9 @@
#include "core/processor/is_motion.h"
#include "core/problem/problem.h"
-using namespace wolf;
+//using namespace wolf;
+
+namespace wolf {
void IsMotion::addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr)
{
@@ -21,3 +23,5 @@ void IsMotion::setOdometry(const VectorComposite& _odom)
for (auto key : state_structure_)
odometry_[key] = _odom.at(key); //overwrite/insert only keys of the state_structure_
}
+
+} // namespace wolf
--
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