diff --git a/README.md b/README.md
index c1e960469ccdcaf2b9918905b7e10536c9e9af59..a8b2a0c1217e69fb4c70ecadab2eea4eceb08c1f 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-WOLF - Windowed Localization Frames
-===================================
+WOLF - Modular estimation framework for robotics based on factor graphs
+=======================================================================
-For installation guide and code documentation, please visit the [documentation website](http://mobile_robotics.pages.iri.upc-csic.es/wolf_projects/wolf_lib/wolf-doc-sphinx/).
\ No newline at end of file
+For installation guide and code documentation, please visit the [documentation website](http://www.iri.upc.edu/wolf).
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index a3981d2f9e1a8e2b08a25f290ee2e7cf60ffd6be..1e5c88a2db6cf68a2032c8be1b50dbbe3c2206d9 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -147,31 +147,6 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
loaders.push_back(l);
}
- // load Packages for subscribers and publishers
- std::string packages_path;
- try
- {
- packages_path = _server.getParam<std::string>("packages_path");
- }
- catch (MissingValueException& e) {
- WOLF_WARN(e.what());
- WOLF_WARN("Support for subscribers disabled...");
- }
- for (auto subscriber_name : _server.getParam<std::vector<std::string>>("packages_subscriber")) {
- std::string subscriber = packages_path + "/libsubscriber_" + subscriber_name + lib_extension;
- WOLF_TRACE("Loading subscriber " + subscriber_name + " via " + subscriber);
- auto l = std::make_shared<LoaderRaw>(subscriber);
- l->load();
- loaders.push_back(l);
- }
- for (auto publisher_name : _server.getParam<std::vector<std::string>>("packages_publisher")) {
- std::string publisher = packages_path + "/libpublisher_" + publisher_name + lib_extension;
- WOLF_TRACE("Loading publisher " + publisher_name + " via " + publisher);
- auto l = std::make_shared<LoaderRaw>(publisher);
- l->load();
- loaders.push_back(l);
- }
-
// load raw libs
std::vector<std::string> raw_libs;
try
@@ -219,14 +194,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
map_plugin = "core";
}
WOLF_TRACE("Map Type: ", map_type, " in plugin ", map_plugin);
- if (map_plugin != "core" and map_plugin != "wolf")
- {
- std::string plugin = plugins_path + "libwolf" + map_plugin + lib_extension;
- WOLF_TRACE("Loading plugin " + plugin);
- auto l = std::make_shared<LoaderRaw>(plugin);
- l->load();
- loaders.push_back(l);
- }
+
auto map = AutoConfFactoryMap::create(map_type, _server);
map->setProblem(problem);
problem->setMap(map);
@@ -235,18 +203,7 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
std::string tree_manager_type = _server.getParam<std::string>("problem/tree_manager/type");
WOLF_TRACE("Tree Manager Type: ", tree_manager_type);
if (tree_manager_type != "None" and tree_manager_type != "none")
- {
- std::string tm_plugin = _server.getParam<std::string>("problem/tree_manager/plugin");
- if (tm_plugin != "core" and tm_plugin != "wolf")
- {
- std::string plugin = plugins_path + "libwolf" + tm_plugin + lib_extension;
- WOLF_TRACE("Loading plugin " + plugin);
- auto l = std::make_shared<LoaderRaw>(plugin);
- l->load();
- loaders.push_back(l);
- }
problem->setTreeManager(AutoConfFactoryTreeManager::create(tree_manager_type, "tree manager", _server));
- }
// Set problem prior -- first keyframe
std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");
diff --git a/src/yaml/parser_yaml.cpp b/src/yaml/parser_yaml.cpp
index b4c830bd547b7b07e288cb406027deab95751db3..a813f71b2246d53d0056bb8ab26ec1f9db5ee000 100644
--- a/src/yaml/parser_yaml.cpp
+++ b/src/yaml/parser_yaml.cpp
@@ -517,12 +517,10 @@ void ParserYaml::parse()
tags.push_back("ROS publisher");
walkTreeR(it.n_, tags, "ROS publisher/" + it.type_ + " - " + it.topic_);
}
- std::list<std::string> plugins;
- std::list<std::string> packages_subscriber, packages_publisher;
- for (const auto& it : paramsSens_)
- plugins.push_back(it.plugin_);
- for (const auto& it : paramsProc_)
- plugins.push_back(it.plugin_);
+ std::list<std::string> plugins, packages_subscriber, packages_publisher;
+ for (auto pair : params_)
+ if (pair.first.find("plugin") != std::string::npos and pair.first != "plugins")
+ plugins.push_back(pair.second);
for (const auto& it : subscriber_managers_)
packages_subscriber.push_back(it.package_);
for (const auto& it : publisher_managers_)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 9479b901549a8777580ab7455507a4f9a83a9567..dd7732c47dbffb1e1e7e2502d0ecc78c60e9f926 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -34,6 +34,7 @@ target_link_libraries(gtest_example ${PLUGIN_NAME}) #
set(SRC_DUMMY
dummy/processor_tracker_feature_dummy.cpp
dummy/processor_tracker_landmark_dummy.cpp
+ dummy/dummy_object_derived.cpp
)
add_library(dummy SHARED ${SRC_DUMMY})
target_link_libraries(dummy ${PLUGIN_NAME})
@@ -64,6 +65,10 @@ target_link_libraries(gtest_factor_base ${PLUGIN_NAME})
wolf_add_gtest(gtest_factor_autodiff gtest_factor_autodiff.cpp)
target_link_libraries(gtest_factor_autodiff ${PLUGIN_NAME})
+# Factory test
+wolf_add_gtest(gtest_factory gtest_factory.cpp)
+target_link_libraries(gtest_factory ${PLUGIN_NAME} dummy)
+
# FactoryStateBlock factory test
wolf_add_gtest(gtest_factory_state_block gtest_factory_state_block.cpp)
target_link_libraries(gtest_factory_state_block ${PLUGIN_NAME})
diff --git a/test/dummy/dummy_object.h b/test/dummy/dummy_object.h
new file mode 100644
index 0000000000000000000000000000000000000000..ab865a1449ac6a8610129cd8e1f8427bf02d22ec
--- /dev/null
+++ b/test/dummy/dummy_object.h
@@ -0,0 +1,115 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef WOLF_DUMMY_OBJECT_H_
+#define WOLF_DUMMY_OBJECT_H_
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/common/wolf.h"
+#include <core/utils/params_server.h>
+#include "factory_dummy_object.h"
+
+namespace wolf {
+WOLF_PTR_TYPEDEFS(DummyObject);
+
+/*
+ * Macro for defining Autoconf DummyObject creator for WOLF's high level API.
+ *
+ * Place a call to this macro inside your class declaration (in the DummyObject_class.h file),
+ * preferably just after the constructors.
+ *
+ * In order to use this macro, the derived DummyObject class, DummyObjectClass,
+ * must have a constructor available with the API:
+ *
+ * DummyObjectClass(const std::string& _unique_name,
+ * const ParamsServer& _server);
+ */
+#define WOLF_DUMMY_OBJECT_CREATE(DummyObjectClass) \
+static DummyObjectPtr create(const std::string& _unique_name, \
+ const ParamsServer& _server) \
+{ \
+ DummyObjectPtr sub = std::make_shared<DummyObjectClass>(_unique_name, _server); \
+ return sub; \
+} \
+
+class DummyObject
+{
+ protected:
+ //wolf
+ std::string prefix_;
+ std::string name_;
+ std::string topic_;
+
+ public:
+ DummyObject(const std::string& _unique_name,
+ const ParamsServer& _server) :
+ prefix_("ROS DummyObject/" + _unique_name),
+ name_(_unique_name)
+ {
+ //topic_ = _server.getParam<std::string>(prefix_ + "/topic");
+ }
+
+ virtual ~DummyObject(){};
+
+ //std::string getTopic() const;
+
+ std::string getName() const;
+
+ virtual void print() const = 0;
+
+ protected:
+
+ template<typename T>
+ T getParamWithDefault(const ParamsServer &_server,
+ const std::string &_param_name,
+ const T _default_value) const;
+};
+
+// inline std::string DummyObject::getTopic() const
+// {
+// return topic_;
+// }
+
+inline std::string DummyObject::getName() const
+{
+ return name_;
+}
+
+// template<typename T>
+// inline T DummyObject::getParamWithDefault(const ParamsServer &_server,
+// const std::string &_param_name,
+// const T _default_value) const
+// {
+// try
+// {
+// return _server.getParam<T>(_param_name);
+// }
+// catch (...)
+// {
+// WOLF_INFO("DummyObject: Parameter ", _param_name, " is missing. Taking default value: ", _default_value);
+// return _default_value;
+// }
+// }
+
+}
+#endif
diff --git a/test/dummy/dummy_object_derived.cpp b/test/dummy/dummy_object_derived.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4bd2b708743baaa712987e0c2eb32ebc238c604d
--- /dev/null
+++ b/test/dummy/dummy_object_derived.cpp
@@ -0,0 +1,38 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "dummy_object_derived.h"
+
+namespace wolf
+{
+
+DummyObjectDerived::DummyObjectDerived(const std::string& _unique_name,
+ const ParamsServer& _server) ://,
+ DummyObject(_unique_name, _server)
+{
+}
+
+void DummyObjectDerived::print() const
+{
+ WOLF_INFO("DummyObjectDerived::print()");
+}
+
+}
\ No newline at end of file
diff --git a/test/dummy/dummy_object_derived.h b/test/dummy/dummy_object_derived.h
new file mode 100644
index 0000000000000000000000000000000000000000..78bf5079fe99a57965f60dd2d6d9c5b67af09a7b
--- /dev/null
+++ b/test/dummy/dummy_object_derived.h
@@ -0,0 +1,49 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef DUMMY_OBJECT_DERIVED_H_
+#define DUMMY_OBJECT_DERIVED_H_
+
+/**************************
+ * WOLF includes *
+ **************************/
+#include "core/common/wolf.h"
+
+#include "dummy_object.h"
+
+namespace wolf {
+
+class DummyObjectDerived : public DummyObject
+{
+ public:
+ DummyObjectDerived(const std::string& _unique_name,
+ const ParamsServer& _server);
+ WOLF_DUMMY_OBJECT_CREATE(DummyObjectDerived);
+
+ void print() const override;
+
+ virtual ~DummyObjectDerived(){};
+};
+
+WOLF_REGISTER_DUMMY_OBJECT(DummyObjectDerived)
+}
+
+#endif
\ No newline at end of file
diff --git a/test/dummy/factory_dummy_object.h b/test/dummy/factory_dummy_object.h
new file mode 100644
index 0000000000000000000000000000000000000000..34a215963d94f3837cf77724b0859ce99ea49c0b
--- /dev/null
+++ b/test/dummy/factory_dummy_object.h
@@ -0,0 +1,48 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#ifndef FACTORY_DUMMY_OBJECT_H_
+#define FACTORY_DUMMY_OBJECT_H_
+
+// wolf
+#include <core/common/factory.h>
+#include <core/utils/params_server.h>
+
+namespace wolf
+{
+
+class DummyObject;
+typedef Factory<DummyObject,
+ const std::string&,
+ const ParamsServer&> FactoryDummyObject;
+template<>
+inline std::string FactoryDummyObject::getClass() const
+{
+ return "FactoryDummyObject";
+}
+
+
+#define WOLF_REGISTER_DUMMY_OBJECT(DummyObjectType) \
+ namespace{ const bool WOLF_UNUSED DummyObjectType##Registered = \
+ wolf::FactoryDummyObject::registerCreator(#DummyObjectType, DummyObjectType::create); } \
+
+} /* namespace wolf */
+#endif /* FACTORY_DUMMY_OBJECT_H_ */
diff --git a/test/gtest_factory.cpp b/test/gtest_factory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..f46ee75069a4611a1fdb45be399c852b527517b0
--- /dev/null
+++ b/test/gtest_factory.cpp
@@ -0,0 +1,53 @@
+//--------LICENSE_START--------
+//
+// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informà tica Industrial, CSIC-UPC.
+// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
+// All rights reserved.
+//
+// This file is part of WOLF
+// WOLF is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program. If not, see <http://www.gnu.org/licenses/>.
+//
+//--------LICENSE_END--------
+#include "core/utils/utils_gtest.h"
+#include "dummy/factory_dummy_object.h"
+#include "dummy/dummy_object.h"
+#include "dummy/dummy_object_derived.h"
+#include "core/yaml/parser_yaml.h"
+#include "core/utils/params_server.h"
+
+using namespace wolf;
+
+std::string wolf_root = _WOLF_ROOT_DIR;
+
+TEST(TestFactory, DummyObjectFactory)
+{
+ ParserYaml parser = ParserYaml("test/yaml/params_basic.yaml", wolf_root);
+ ParamsServer server = ParamsServer(parser.getParams());
+
+ auto object = FactoryDummyObject::create("DummyObjectDerived","ACoolDummyObject", server);
+
+ object->getName();
+ object->print();
+
+ // FORCE LOADING
+ DummyObjectDerived obj_derived = DummyObjectDerived("AnotherCoolDummyObject", server);
+}
+
+int main(int argc, char **argv)
+{
+ testing::InitGoogleTest(&argc, argv);
+ //::testing::GTEST_FLAG(filter) = "TestTest.DummyTestExample"; // Test only this one
+ //::testing::GTEST_FLAG(filter) = "TestTest.*"; // Test only the tests in this group
+ return RUN_ALL_TESTS();
+}