diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index baf67a4ae8afc59be83f614c7f4642770fdd82d5..c4e423947d5ce6c1c00d2f70f6c510dea38e1608 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -65,7 +65,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
// Add and remove from WOLF tree ---------------------------------
template<typename classType, typename... T>
- static std::shared_ptr<classType> emplaceFrame(TrajectoryBasePtr _ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(TrajectoryBasePtr _ptr, T&&... all);
void link(TrajectoryBasePtr);
void link(ProblemPtr _prb);
@@ -157,7 +157,7 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
namespace wolf {
template<typename classType, typename... T>
-std::shared_ptr<classType> FrameBase::emplaceFrame(TrajectoryBasePtr _ptr, T&&... all)
+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/src/problem/problem.cpp b/src/problem/problem.cpp
index d0a311aec438e3cc81d526aca264fcadc0f902b8..3dceffdd79180d3bb3bd9f5d4a27d33321ace5b7 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -356,10 +356,10 @@ FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
assert (_frame_state.size() == index && "State vector incompatible with given structure and dimension! Vector too large.");
- auto frm = FrameBase::emplaceFrame<FrameBase>(trajectory_ptr_,
- _time_stamp,
- _frame_structure,
- state);
+ auto frm = FrameBase::emplace<FrameBase>(trajectory_ptr_,
+ _time_stamp,
+ _frame_structure,
+ state);
return frm;
}
@@ -377,10 +377,10 @@ FrameBasePtr Problem::emplaceFrame (const TimeStamp& _time_stamp, //
const StateStructure& _frame_structure, //
const VectorComposite& _frame_state)
{
- return FrameBase::emplaceFrame<FrameBase>(getTrajectory(),
- _time_stamp,
- _frame_structure,
- _frame_state);
+ return FrameBase::emplace<FrameBase>(getTrajectory(),
+ _time_stamp,
+ _frame_structure,
+ _frame_state);
}
FrameBasePtr Problem::emplaceFrame (const TimeStamp& _time_stamp, //
@@ -394,14 +394,14 @@ FrameBasePtr Problem::emplaceFrame (const TimeStamp& _time_stamp, //
frame_structure_ += std::string(1,key);
}
- return FrameBase::emplaceFrame<FrameBase>(getTrajectory(),
- _time_stamp,
- getFrameStructure(),
- _frame_state);
+ return FrameBase::emplace<FrameBase>(getTrajectory(),
+ _time_stamp,
+ getFrameStructure(),
+ _frame_state);
}
FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
- const Eigen::VectorXd& _frame_state)
+ const Eigen::VectorXd& _frame_state)
{
return emplaceFrame(_time_stamp,
this->getFrameStructure(),
@@ -412,8 +412,8 @@ FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, //
FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp)
{
return emplaceFrame(_time_stamp,
- this->getFrameStructure(),
- this->getDim());
+ this->getFrameStructure(),
+ this->getDim());
}
TimeStamp Problem::getTimeStamp ( ) const
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 17919a7b9eabb2cfda8902ce9585c45dd7c38714..c6fda0b6468a76644dfdf165240fdfdcf07949ba 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -662,10 +662,10 @@ VectorComposite ProcessorMotion::getState(const TimeStamp& _ts, const StateStruc
FrameBasePtr ProcessorMotion::setOrigin(const VectorComposite& _x_origin, const TimeStamp& _ts_origin)
{
- FrameBasePtr key_frame_ptr = FrameBase::emplaceFrame<FrameBase>(getProblem()->getTrajectory(),
- _ts_origin,
- getStateStructure(),
- _x_origin);
+ FrameBasePtr key_frame_ptr = FrameBase::emplace<FrameBase>(getProblem()->getTrajectory(),
+ _ts_origin,
+ getStateStructure(),
+ _x_origin);
setOrigin(key_frame_ptr);
return key_frame_ptr;
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 860b9867f8e6173659b464df904dde17db5e6ac1..52421e86398bc049321e8b3dc5f75dc56d2d3001 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -81,10 +81,10 @@ void ProcessorTracker::processCapture(CaptureBasePtr _incoming_ptr)
{
WOLF_DEBUG( "PT ", getName(), " FIRST_TIME_WITHOUT_PACK" );
- FrameBasePtr kfrm = FrameBase::emplaceFrame<FrameBase>(getProblem()->getTrajectory(),
- incoming_ptr_->getTimeStamp(),
- getProblem()->getFrameStructure(),
- getProblem()->getState());
+ FrameBasePtr kfrm = FrameBase::emplace<FrameBase>(getProblem()->getTrajectory(),
+ incoming_ptr_->getTimeStamp(),
+ getProblem()->getFrameStructure(),
+ getProblem()->getState());
incoming_ptr_->link(kfrm);
// Process info
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 23d0e097076b741ac5e6976ae77df152b818171a..21ed3167006049866bcbc481ec5bfa81c760a23c 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -42,7 +42,7 @@ TEST(Emplace, Frame)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
}
@@ -67,7 +67,7 @@ TEST(Emplace, Capture)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -81,7 +81,7 @@ TEST(Emplace, Feature)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -99,7 +99,7 @@ TEST(Emplace, Factor)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getTrajectory()->getProblem());
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
@@ -119,7 +119,7 @@ TEST(Emplace, EmplaceDerived)
{
ProblemPtr P = Problem::create("POV", 3);
- auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
auto sen = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Eigen::VectorXd(3), ParamsSensorOdom2d());
auto cov = Eigen::MatrixXd::Identity(2,2);
auto cpt = CaptureBase::emplace<CaptureOdom2d>(frm, TimeStamp(0), sen, Eigen::VectorXd(2), cov, nullptr);
@@ -141,7 +141,7 @@ TEST(Emplace, ReturnDerived)
ProblemPtr P = Problem::create("POV", 3);
ASSERT_NE(P->getTrajectory(), nullptr);
- auto frm = FrameBase::emplaceFrame<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
auto cov = Eigen::MatrixXd::Identity(2,2);
auto ftr = FeatureBase::emplace<FeatureOdom2d>(cpt, Eigen::VectorXd(2), cov);
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 61f38c020cc0a6fbc53b3c9f154e11bbf7f926a9..4f3ece70d92af1deeb923ce811d7a09dd96ba543 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -159,11 +159,11 @@ class FactorDiffDriveTest : public testing::Test
processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc);
// frames
- F0 = FrameBase::emplaceFrame<FrameBase>(trajectory,
+ F0 = FrameBase::emplace<FrameBase>(trajectory,
0.0,
"PO",
std::list<VectorXd>{Vector2d(0,0), Vector1d(0)});
- F1 = FrameBase::emplaceFrame<FrameBase>(trajectory,
+ F1 = FrameBase::emplace<FrameBase>(trajectory,
1.0,
"PO",
std::list<VectorXd>{Vector2d(1,0), Vector1d(0)});
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 8b651ae32e831d27a738feb66012779c4bbc7664..ac405e6fa1e9f4bcdc7976d8f0adc2014cb79c5f 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -65,8 +65,8 @@ TEST(FrameBase, LinksToTree)
intrinsics_odo.k_disp_to_disp = 1;
intrinsics_odo.k_rot_to_rot = 1;
auto S = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Vector3d::Zero(), intrinsics_odo);
- auto F1 = FrameBase::emplaceFrame<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
- auto F2 = FrameBase::emplaceFrame<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ auto F2 = FrameBase::emplace<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
auto C = CaptureBase::emplace<CaptureMotion>(F1, "CaptureMotion", 1, S, Vector3d::Zero(), nullptr);
WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
auto p = std::make_shared<ProcessorOdom2d>(std::make_shared<ParamsProcessorOdom2d>());