Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
wolf
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Container Registry
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
83f626df
Commit
83f626df
authored
6 years ago
by
Joaquim Casals Buñuel
Browse files
Options
Downloads
Patches
Plain Diff
Minor fixes
parent
b26e5d91
No related branches found
No related tags found
1 merge request
!260
WIP: params autoconf
Changes
3
Hide whitespace changes
Inline
Side-by-side
Showing
3 changed files
CMakeLists.txt
+42
-92
42 additions, 92 deletions
CMakeLists.txt
cmake_modules/wolfConfig.cmake
+0
-1
0 additions, 1 deletion
cmake_modules/wolfConfig.cmake
include/base/yaml/parser_yaml.hpp
+22
-0
22 additions, 0 deletions
include/base/yaml/parser_yaml.hpp
with
64 additions
and
93 deletions
CMakeLists.txt
+
42
−
92
View file @
83f626df
...
@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND)
...
@@ -254,6 +254,8 @@ ENDIF(GLOG_FOUND)
#HEADERS
#HEADERS
SET
(
HDRS_BASE
SET
(
HDRS_BASE
include/base/IMU_tools.h
include/base/SE3.h
include/base/converter.h
include/base/converter.h
include/base/diff_drive_tools.h
include/base/diff_drive_tools.h
include/base/diff_drive_tools.hpp
include/base/diff_drive_tools.hpp
...
@@ -262,7 +264,7 @@ SET(HDRS_BASE
...
@@ -262,7 +264,7 @@ SET(HDRS_BASE
include/base/factory.h
include/base/factory.h
include/base/frame_base.h
include/base/frame_base.h
include/base/hardware_base.h
include/base/hardware_base.h
include/base/
IMU_tools.h
include/base/
loader.hpp
include/base/local_parametrization_angle.h
include/base/local_parametrization_angle.h
include/base/local_parametrization_base.h
include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_homogeneous.h
...
@@ -282,65 +284,41 @@ SET(HDRS_BASE
...
@@ -282,65 +284,41 @@ SET(HDRS_BASE
include/base/state_block.h
include/base/state_block.h
include/base/state_homogeneous_3D.h
include/base/state_homogeneous_3D.h
include/base/state_quaternion.h
include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h
include/base/time_stamp.h
include/base/track_matrix.h
include/base/track_matrix.h
include/base/trajectory_base.h
include/base/trajectory_base.h
include/base/wolf.h
include/base/wolf.h
include/base/IMU_tools.h
include/base/local_parametrization_polyline_extreme.h
include/base/loader.hpp
)
)
SET
(
HDRS_CAPTURE
SET
(
HDRS_CAPTURE
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_base.h
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
include/base/capture/capture_void.h
include/base/capture/capture_motion.h
include/base/capture/capture_motion.h
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_odom_2D.h
include/base/capture/capture_odom_3D.h
include/base/capture/capture_GPS_fix.h
include/base/capture/capture_IMU.h
include/base/capture/capture_odom_2D.h
include/base/capture/capture_odom_2D.h
include/base/capture/capture_odom_3D.h
include/base/capture/capture_odom_3D.h
include/base/capture/capture_pose.h
include/base/capture/capture_velocity.h
include/base/capture/capture_velocity.h
include/base/capture/capture_void.h
include/base/capture/capture_wheel_joint_position.h
include/base/capture/capture_wheel_joint_position.h
)
)
SET
(
HDRS_CONSTRAINT
SET
(
HDRS_CONSTRAINT
include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_container.h
include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_AHP.h
include/base/constraint/constraint_AHP.h
include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_fix_bias.h
include/base/constraint/constraint_GPS_2D.h
include/base/constraint/constraint_GPS_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_odom_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_odom_3D.h
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_point_2D.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_point_to_line_2D.h
include/base/constraint/constraint_pose_2D.h
include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_relative_2D_analytic.h
include/base/constraint/constraint_autodiff_trifocal.h
include/base/constraint/constraint_autodiff_distance_3D.h
include/base/constraint/constraint_autodiff_distance_3D.h
include/base/constraint/constraint_AHP.h
include/base/constraint/constraint_autodiff_trifocal.h
include/base/constraint/constraint_base.h
include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_block_absolute.h
include/base/constraint/constraint_container.h
include/base/constraint/constraint_container.h
include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_corner_2D.h
include/base/constraint/constraint_diff_drive.h
include/base/constraint/constraint_diff_drive.h
include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_epipolar.h
include/base/constraint/constraint_IMU.h
include/base/constraint/constraint_fix_bias.h
include/base/constraint/constraint_fix_bias.h
include/base/constraint/constraint_GPS_2D.h
include/base/constraint/constraint_GPS_pseudorange_3D.h
include/base/constraint/constraint_GPS_pseudorange_2D.h
include/base/constraint/constraint_odom_2D.h
include/base/constraint/constraint_odom_2D.h
include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_odom_2D_analytic.h
include/base/constraint/constraint_odom_3D.h
include/base/constraint/constraint_odom_3D.h
...
@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT
...
@@ -350,83 +328,57 @@ SET(HDRS_CONSTRAINT
include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_pose_3D.h
include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_quaternion_absolute.h
include/base/constraint/constraint_relative_2D_analytic.h
include/base/constraint/constraint_relative_2D_analytic.h
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_base.h
)
)
SET
(
HDRS_FEATURE
SET
(
HDRS_FEATURE
include/base/feature/feature_corner_2D.h
include/base/feature/feature_GPS_fix.h
include/base/feature/feature_GPS_fix.h
include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_IMU.h
include/base/feature/feature_IMU.h
include/base/feature/feature_odom_2D.h
include/base/feature/feature_base.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_corner_2D.h
include/base/feature/feature_corner_2D.h
include/base/feature/feature_diff_drive.h
include/base/feature/feature_diff_drive.h
include/base/feature/feature_GPS_fix.h
include/base/feature/feature_match.h
include/base/feature/feature_GPS_pseudorange.h
include/base/feature/feature_IMU.h
include/base/feature/feature_odom_2D.h
include/base/feature/feature_odom_2D.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_polyline_2D.h
include/base/feature/feature_base.h
include/base/feature/feature_match.h
include/base/feature/feature_pose.h
include/base/feature/feature_pose.h
)
)
SET
(
HDRS_LANDMARK
SET
(
HDRS_LANDMARK
include/base/landmark/landmark_base.h
include/base/landmark/landmark_base.h
include/base/landmark/landmark_match.h
include/base/landmark/landmark_corner_2D.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_polyline_2D.h
include/base/landmark/landmark_corner_2D.h
include/base/landmark/landmark_corner_2D.h
include/base/landmark/landmark_container.h
include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_line_2D.h
include/base/landmark/landmark_match.h
include/base/landmark/landmark_polyline_2D.h
include/base/landmark/landmark_polyline_2D.h
)
)
SET
(
HDRS_PROCESSOR
SET
(
HDRS_PROCESSOR
include/base/processor/new_processor_factory.h
include/base/processor/processor_IMU.h
include/base/processor/processor_base.h
include/base/processor/processor_capture_holder.h
include/base/processor/processor_capture_holder.h
include/base/processor/processor_diff_drive.h
include/base/processor/processor_diff_drive.h
include/base/processor/processor_factory.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark.h
include/base/processor/processor_tracker_landmark.h
include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_factory.h
include/base/processor/new_processor_factory.h
include/base/processor/processor_logging.h
include/base/processor/processor_base.h
include/base/processor/processor_factory.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
)
)
SET
(
HDRS_SENSOR
SET
(
HDRS_SENSOR
include/base/sensor/sensor_base.h
include/base/sensor/new_sensor_factory.h
include/base/sensor/sensor_camera.h
include/base/sensor/sensor_diff_drive.h
include/base/sensor/sensor_GPS.h
include/base/sensor/sensor_GPS.h
include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_base.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_camera.h
include/base/sensor/sensor_camera.h
include/base/sensor/sensor_GPS.h
include/base/sensor/sensor_diff_drive.h
include/base/sensor/sensor_GPS_fix.h
include/base/sensor/sensor_factory.h
include/base/sensor/sensor_IMU.h
include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_odom_2D.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_odom_3D.h
include/base/sensor/sensor_factory.h
include/base/sensor/new_sensor_factory.h
)
)
SET
(
HDRS_SOLVER
SET
(
HDRS_SOLVER
include/base/solver/solver_manager.h
include/base/solver/solver_manager.h
...
@@ -442,6 +394,7 @@ SET(HDRS_DTASSC
...
@@ -442,6 +394,7 @@ SET(HDRS_DTASSC
)
)
SET
(
HDRS_CORE
SET
(
HDRS_CORE
include/base/SE3.h
include/base/capture/capture_base.h
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
include/base/capture/capture_pose.h
...
@@ -449,7 +402,6 @@ SET(HDRS_CORE
...
@@ -449,7 +402,6 @@ SET(HDRS_CORE
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_analytic.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_autodiff.h
include/base/constraint/constraint_base.h
include/base/constraint/constraint_base.h
include/base/processor/processor_factory.h
include/base/feature/feature_base.h
include/base/feature/feature_base.h
include/base/feature/feature_match.h
include/base/feature/feature_match.h
include/base/feature/feature_pose.h
include/base/feature/feature_pose.h
...
@@ -460,26 +412,24 @@ SET(HDRS_CORE
...
@@ -460,26 +412,24 @@ SET(HDRS_CORE
include/base/local_parametrization_base.h
include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_quaternion.h
include/base/local_parametrization_quaternion.h
include/base/processor/processor_logging.h
include/base/map_base.h
include/base/map_base.h
include/base/motion_buffer.h
include/base/motion_buffer.h
include/base/node_base.h
include/base/node_base.h
include/base/problem.h
include/base/problem.h
include/base/processor/processor_base.h
include/base/processor/processor_base.h
include/base/processor/processor_factory.h
include/base/processor/processor_factory.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/rotations.h
include/base/rotations.h
include/base/sensor/sensor_base.h
include/base/sensor/sensor_base.h
include/base/processor/processor_factory.h
include/base/singleton.h
include/base/singleton.h
include/base/state_angle.h
include/base/state_angle.h
include/base/state_block.h
include/base/state_block.h
include/base/state_homogeneous_3D.h
include/base/state_homogeneous_3D.h
include/base/state_quaternion.h
include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h
include/base/time_stamp.h
include/base/track_matrix.h
include/base/track_matrix.h
include/base/trajectory_base.h
include/base/trajectory_base.h
...
@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE
...
@@ -536,11 +486,11 @@ SET(SRCS_CAPTURE
src/capture/capture_wheel_joint_position.cpp
src/capture/capture_wheel_joint_position.cpp
)
)
SET
(
SRCS_FEATURE
SET
(
SRCS_FEATURE
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_GPS_fix.cpp
src/feature/feature_GPS_fix.cpp
src/feature/feature_GPS_pseudorange.cpp
src/feature/feature_GPS_pseudorange.cpp
src/feature/feature_IMU.cpp
src/feature/feature_IMU.cpp
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_odom_2D.cpp
src/feature/feature_odom_2D.cpp
src/feature/feature_polyline_2D.cpp
src/feature/feature_polyline_2D.cpp
)
)
...
@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK
...
@@ -551,22 +501,22 @@ SET(SRCS_LANDMARK
src/landmark/landmark_polyline_2D.cpp
src/landmark/landmark_polyline_2D.cpp
)
)
SET
(
SRCS_PROCESSOR
SET
(
SRCS_PROCESSOR
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_IMU.cpp
src/processor/processor_IMU.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_odom_2D.cpp
src/processor/processor_odom_2D.cpp
src/processor/processor_odom_3D.cpp
src/processor/processor_odom_3D.cpp
src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_feature_dummy.cpp
src/processor/processor_tracker_feature_dummy.cpp
src/processor/processor_tracker_landmark_dummy.cpp
src/processor/processor_tracker_landmark.cpp
src/processor/processor_tracker_landmark.cpp
src/processor/processor_tracker_landmark_dummy.cpp
)
)
SET
(
SRCS_SENSOR
SET
(
SRCS_SENSOR
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_GPS.cpp
src/sensor/sensor_GPS.cpp
src/sensor/sensor_GPS_fix.cpp
src/sensor/sensor_GPS_fix.cpp
src/sensor/sensor_IMU.cpp
src/sensor/sensor_IMU.cpp
src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_odom_2D.cpp
src/sensor/sensor_odom_2D.cpp
src/sensor/sensor_odom_3D.cpp
src/sensor/sensor_odom_3D.cpp
)
)
...
@@ -583,13 +533,13 @@ SET(SRCS_SOLVER
...
@@ -583,13 +533,13 @@ SET(SRCS_SOLVER
#optional HDRS and SRCS
#optional HDRS and SRCS
IF
(
Ceres_FOUND
)
IF
(
Ceres_FOUND
)
SET
(
HDRS_WRAPPER
SET
(
HDRS_WRAPPER
include/base/solver_suitesparse/sparse_utils.h
include/base/solver/solver_manager.h
include/base/ceres_wrapper/ceres_manager.h
#ceres_wrapper/qr_manager.h
#ceres_wrapper/qr_manager.h
include/base/ceres_wrapper/ceres_manager.h
include/base/ceres_wrapper/cost_function_wrapper.h
include/base/ceres_wrapper/cost_function_wrapper.h
include/base/ceres_wrapper/create_numeric_diff_cost_function.h
include/base/ceres_wrapper/create_numeric_diff_cost_function.h
include/base/ceres_wrapper/local_parametrization_wrapper.h
include/base/ceres_wrapper/local_parametrization_wrapper.h
include/base/solver/solver_manager.h
include/base/solver_suitesparse/sparse_utils.h
)
)
SET
(
SRCS_WRAPPER
SET
(
SRCS_WRAPPER
src/solver/solver_manager.cpp
src/solver/solver_manager.cpp
...
...
This diff is collapsed.
Click to expand it.
cmake_modules/wolfConfig.cmake
+
0
−
1
View file @
83f626df
...
@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
...
@@ -156,7 +156,6 @@ list(APPEND EIGEN_INCLUDE_DIR_HINTS /usr/include/eigen3)
# match and reject with an explanation below.
# match and reject with an explanation below.
find_package
(
Eigen3
${
wolf_EIGEN_VERSION
}
QUIET
)
find_package
(
Eigen3
${
wolf_EIGEN_VERSION
}
QUIET
)
message
(
"FOUND EIGEN? "
${
EIGEN3_FOUND
}
)
# Flag set with currently found Eigen version.
# Flag set with currently found Eigen version.
set
(
EIGEN_VERSION @EIGEN_VERSION@
)
set
(
EIGEN_VERSION @EIGEN_VERSION@
)
if
(
EIGEN3_FOUND
)
if
(
EIGEN3_FOUND
)
...
...
This diff is collapsed.
Click to expand it.
include/base/yaml/parser_yaml.hpp
+
22
−
0
View file @
83f626df
...
@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
...
@@ -174,6 +174,28 @@ void parserYAML::walkTreeR(YAML::Node n, vector<string>& tags, string hdr){
//otherwise the parser recursively parses the map
//otherwise the parser recursively parses the map
regex
r
(
"^
\\
$.*"
);
regex
r
(
"^
\\
$.*"
);
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
r
)){
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
r
)){
/*
If key=="follow" then the parser will assume that the value is a path and will parse
the (expected) yaml file at the specified path. Note that this does not increase the header depth
The following example shows how the header remains unafected:
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- follow: "some_path" |
- var: 1.2 |
Resulting map:
cov_det -> 1
my_value-> 23
var: 1.2
Instead of:
cov_det -> 1
follow/my_value-> 23
var: 1.2
Which would result from the following yaml files
@my_main_config | @some_path
- cov_det: 1 | - my_value : 23
- $follow: "some_path" |
- var: 1.2 |
*/
regex
rr
(
"follow"
);
regex
rr
(
"follow"
);
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
rr
))
{
if
(
not
regex_match
(
kv
.
first
.
as
<
string
>
(),
rr
))
{
tags
.
push_back
(
kv
.
first
.
as
<
string
>
());
tags
.
push_back
(
kv
.
first
.
as
<
string
>
());
...
...
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment