diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index 74f01419ea00bfd01842364b5f79e46df02b525f..fbd3261c29afceed19fbc21666e79dd996b945aa 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -37,6 +37,7 @@ struct ParamsProcessorBase;
// wolf
#include "core/common/factory.h"
+#include "core/utils/params_server.h"
// std
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 20ed2330334aea821c7ca8bc6510f7438c555063..462e5ee22a47f00f874f861dcd4d0ddcd37d8c17 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -63,30 +63,30 @@ class ProcessorDiffDrive : public ProcessorOdom2d
protected:
// Motion integration
- void computeCurrentDelta(const Eigen::VectorXd& _data,
- const Eigen::MatrixXd& _data_cov,
- const Eigen::VectorXd& _calib,
- const double _dt,
- Eigen::VectorXd& _delta,
- Eigen::MatrixXd& _delta_cov,
- Eigen::MatrixXd& _jacobian_calib) const override;
- CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
- const SensorBasePtr& _sensor,
- const TimeStamp& _ts,
- const VectorXd& _data,
- const MatrixXd& _data_cov,
- const VectorXd& _calib,
- const VectorXd& _calib_preint,
- const CaptureBasePtr& _capture_origin) override;
- FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override;
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin) override;
- VectorXd getCalibration (const CaptureBaseConstPtr _capture = nullptr) const override;
- void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
+ void computeCurrentDelta(const Eigen::VectorXd& _data,
+ const Eigen::MatrixXd& _data_cov,
+ const Eigen::VectorXd& _calib,
+ const double _dt,
+ Eigen::VectorXd& _delta,
+ Eigen::MatrixXd& _delta_cov,
+ Eigen::MatrixXd& _jacobian_calib) const override;
+
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ const SensorBasePtr& _sensor,
+ const TimeStamp& _ts,
+ const VectorXd& _data,
+ const MatrixXd& _data_cov,
+ const VectorXd& _calib,
+ const VectorXd& _calib_preint,
+ const CaptureBasePtr& _capture_origin) override;
+ void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
+
+ VectorXd getCalibration(const CaptureBaseConstPtr _capture = nullptr) const override;
+ void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
protected:
- ParamsProcessorDiffDrivePtr params_prc_diff_drv_selfcal_;
- double radians_per_tick_;
+ ParamsProcessorDiffDrivePtr params_prc_diff_drv_selfcal_;
+ double radians_per_tick_;
};
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 7f32daba5f16e446b061eb4e1402ab9db44ff0d2..3bf0b996153858d5904181832a463ec4c1854e1c 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -477,16 +477,17 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
const VectorXd& _calib_preint,
const CaptureBasePtr& _capture_origin_ptr) = 0;
- /** \brief emplace a feature corresponding to given capture and add the feature to this capture
- * \param _capture_motion: the parent capture
- */
- virtual FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) = 0;
- /** \brief emplace a factor and link it in the wolf tree
- * \param _feature_motion: the parent feature
- * \param _frame_origin: the frame constrained by this motion factor
+ /** \brief emplace the features and factors corresponding to given capture and link them to the capture
+ * \param _capture_own: the parent capture
+ * \param _capture_origin: the capture constrained by this motion factor
+ *
+ * Typical factors to add for a ProcessorMotionDerived can be:
+ * - A preintegrated motion factor -- this is the main factor
+ * - A calibration drift factor -- only for dynamic sensor calibration parameters
+ * - An instantaneous factor for observing non-typical states of the Frame -- useful for complex dynamic robot models
*/
- virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin) = 0;
+ virtual void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) = 0;
virtual void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) = 0;
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index fea39c4d6808a7a798a83d7b8b99dfbb47abec9d..1612a4bf5ce75ff875b09017e9624d60d8ae6a3c 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -71,44 +71,42 @@ class ProcessorOdom2d : public ProcessorMotion
bool voteForKeyFrame() const override;
protected:
- void computeCurrentDelta(const Eigen::VectorXd& _data,
- const Eigen::MatrixXd& _data_cov,
- const Eigen::VectorXd& _calib,
- const double _dt,
- Eigen::VectorXd& _delta,
- Eigen::MatrixXd& _delta_cov,
- Eigen::MatrixXd& _jacobian_calib) const override;
- void deltaPlusDelta(const Eigen::VectorXd& _delta1,
- const Eigen::VectorXd& _delta2,
- const double _Dt2,
- Eigen::VectorXd& _delta1_plus_delta2) const override;
- void deltaPlusDelta(const Eigen::VectorXd& _delta1,
- const Eigen::VectorXd& _delta2,
- const double _Dt2,
- Eigen::VectorXd& _delta1_plus_delta2,
- Eigen::MatrixXd& _jacobian1,
- Eigen::MatrixXd& _jacobian2) const override;
- void statePlusDelta(const VectorComposite& _x,
- const Eigen::VectorXd& _delta,
- const double _Dt,
- VectorComposite& _x_plus_delta) const override;
- Eigen::VectorXd deltaZero() const override;
- Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
- const Eigen::VectorXd& delta_step) const override;
-
- CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
- const SensorBasePtr& _sensor,
- const TimeStamp& _ts,
- const VectorXd& _data,
- const MatrixXd& _data_cov,
- const VectorXd& _calib,
- const VectorXd& _calib_preint,
- const CaptureBasePtr& _capture_origin_ptr) override;
- FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature,
- CaptureBasePtr _capture_origin) override;
- VectorXd getCalibration (const CaptureBaseConstPtr _capture) const override;
- void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
+ void computeCurrentDelta(const Eigen::VectorXd& _data,
+ const Eigen::MatrixXd& _data_cov,
+ const Eigen::VectorXd& _calib,
+ const double _dt,
+ Eigen::VectorXd& _delta,
+ Eigen::MatrixXd& _delta_cov,
+ Eigen::MatrixXd& _jacobian_calib) const override;
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ const Eigen::VectorXd& _delta2,
+ const double _Dt2,
+ Eigen::VectorXd& _delta1_plus_delta2) const override;
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ const Eigen::VectorXd& _delta2,
+ const double _Dt2,
+ Eigen::VectorXd& _delta1_plus_delta2,
+ Eigen::MatrixXd& _jacobian1,
+ Eigen::MatrixXd& _jacobian2) const override;
+ void statePlusDelta(const VectorComposite& _x,
+ const Eigen::VectorXd& _delta,
+ const double _Dt,
+ VectorComposite& _x_plus_delta) const override;
+ Eigen::VectorXd deltaZero() const override;
+ Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
+ const Eigen::VectorXd& delta_step) const override;
+
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ const SensorBasePtr& _sensor,
+ const TimeStamp& _ts,
+ const VectorXd& _data,
+ const MatrixXd& _data_cov,
+ const VectorXd& _calib,
+ const VectorXd& _calib_preint,
+ const CaptureBasePtr& _capture_origin_ptr) override;
+ void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
+ VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
+ void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
protected:
ParamsProcessorOdom2dPtr params_odom_2d_;
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 02cdbd5ef4480ccd1a0ba28ab0db5c44886fa58c..fca115c8358bdc22bd60013d1f7f3fbc9f1828d2 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -90,47 +90,45 @@ class ProcessorOdom3d : public ProcessorMotion
public:
// Motion integration
- void computeCurrentDelta(const Eigen::VectorXd& _data,
- const Eigen::MatrixXd& _data_cov,
- const Eigen::VectorXd& _calib,
- const double _dt,
- Eigen::VectorXd& _delta,
- Eigen::MatrixXd& _delta_cov,
- Eigen::MatrixXd& _jacobian_calib) const override;
- void deltaPlusDelta(const Eigen::VectorXd& _delta1,
- const Eigen::VectorXd& _delta2,
- const double _Dt2,
- Eigen::VectorXd& _delta1_plus_delta2) const override;
- void deltaPlusDelta(const Eigen::VectorXd& _delta1,
- const Eigen::VectorXd& _delta2,
- const double _Dt2,
- Eigen::VectorXd& _delta1_plus_delta2,
- Eigen::MatrixXd& _jacobian1,
- Eigen::MatrixXd& _jacobian2) const override;
- void statePlusDelta(const VectorComposite& _x,
- const Eigen::VectorXd& _delta,
- const double _Dt,
- VectorComposite& _x_plus_delta) const override;
- Eigen::VectorXd deltaZero() const override;
- Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
- const Eigen::VectorXd& delta_step) const override;
-
- bool voteForKeyFrame() const override;
- CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
- const SensorBasePtr& _sensor,
- const TimeStamp& _ts,
- const VectorXd& _data,
- const MatrixXd& _data_cov,
- const VectorXd& _calib,
- const VectorXd& _calib_preint,
- const CaptureBasePtr& _capture_origin) override;
-
- FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_motion) override;
-
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin) override;
- VectorXd getCalibration (const CaptureBaseConstPtr _capture) const override;
- void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
+ void computeCurrentDelta(const Eigen::VectorXd& _data,
+ const Eigen::MatrixXd& _data_cov,
+ const Eigen::VectorXd& _calib,
+ const double _dt,
+ Eigen::VectorXd& _delta,
+ Eigen::MatrixXd& _delta_cov,
+ Eigen::MatrixXd& _jacobian_calib) const override;
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ const Eigen::VectorXd& _delta2,
+ const double _Dt2,
+ Eigen::VectorXd& _delta1_plus_delta2) const override;
+ void deltaPlusDelta(const Eigen::VectorXd& _delta1,
+ const Eigen::VectorXd& _delta2,
+ const double _Dt2,
+ Eigen::VectorXd& _delta1_plus_delta2,
+ Eigen::MatrixXd& _jacobian1,
+ Eigen::MatrixXd& _jacobian2) const override;
+ void statePlusDelta(const VectorComposite& _x,
+ const Eigen::VectorXd& _delta,
+ const double _Dt,
+ VectorComposite& _x_plus_delta) const override;
+ Eigen::VectorXd deltaZero() const override;
+ Eigen::VectorXd correctDelta(const Eigen::VectorXd& delta_preint,
+ const Eigen::VectorXd& delta_step) const override;
+
+ bool voteForKeyFrame() const override;
+
+ CaptureMotionPtr emplaceCapture(const FrameBasePtr& _frame_own,
+ const SensorBasePtr& _sensor,
+ const TimeStamp& _ts,
+ const VectorXd& _data,
+ const MatrixXd& _data_cov,
+ const VectorXd& _calib,
+ const VectorXd& _calib_preint,
+ const CaptureBasePtr& _capture_origin) override;
+ void emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own) override;
+
+ VectorXd getCalibration(const CaptureBaseConstPtr _capture) const override;
+ void setCalibration(const CaptureBasePtr _capture, const VectorXd& _calibration) override;
protected:
ParamsProcessorOdom3dPtr params_odom_3d_;
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index db06d0078261369000aed77e8d8f4d290cd2a355..310fb5f107e46cd416a3dff9c7f9a84abd6fe334 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -166,28 +166,22 @@ CaptureMotionPtr ProcessorDiffDrive::emplaceCapture(const FrameBasePtr& _frame_o
return cap_motion;
}
-FeatureBasePtr ProcessorDiffDrive::emplaceFeature(CaptureMotionPtr _capture_motion)
+void ProcessorDiffDrive::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own)
{
- auto key_feature_ptr = FeatureBase::emplace<FeatureDiffDrive>(_capture_motion,
- _capture_motion->getBuffer().back().delta_integr_,
- _capture_motion->getBuffer().back().delta_integr_cov_,
- _capture_motion->getCalibrationPreint(),
- _capture_motion->getBuffer().back().jacobian_calib_);
-
- return key_feature_ptr;
+ auto feature = FeatureBase::emplace<FeatureDiffDrive>(_capture_own,
+ _capture_own->getBuffer().back().delta_integr_,
+ _capture_own->getBuffer().back().delta_integr_cov_,
+ _capture_own->getCalibrationPreint(),
+ _capture_own->getBuffer().back().jacobian_calib_);
+
+ auto ftr_motion = std::static_pointer_cast<FeatureMotion>(feature);
+ FactorBase::emplace<FactorDiffDrive>(ftr_motion,
+ ftr_motion,
+ _capture_origin,
+ shared_from_this(),
+ params_prc_diff_drv_selfcal_->apply_loss_function);
}
-FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
- CaptureBasePtr _capture_origin)
-{
- auto ftr_motion = std::static_pointer_cast<FeatureMotion>(_feature);
- auto fac_odom = FactorBase::emplace<FactorDiffDrive>(ftr_motion,
- ftr_motion,
- _capture_origin,
- shared_from_this(),
- params_prc_diff_drv_selfcal_->apply_loss_function);
- return fac_odom;
-}
} /* namespace wolf */
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index f8f2ce217c40cf791a22cb8ce6a600e57c55bd79..53f6f71589987ef9f04f60e55aea91c3ba6bb981 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -119,8 +119,7 @@ void ProcessorMotion::mergeCaptures(CaptureMotionPtr cap_prev,
// emplace new feature and factor (if origin has frame)
if (cap_prev->getOriginCapture() and cap_prev->getOriginCapture()->getFrame())
{
- auto new_feature = emplaceFeature(cap_target);
- emplaceFactor(new_feature, cap_prev->getOriginCapture());
+ emplaceFeaturesAndFactors(cap_prev->getOriginCapture(), cap_target);
}
}
@@ -312,11 +311,9 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
// and give the part of the buffer before the new keyframe to the capture for the KF callback
splitBuffer(capture_existing, timestamp_from_callback, capture_for_keyframe_callback);
- // create motion feature and add it to the capture
- auto feature_new = emplaceFeature(capture_for_keyframe_callback);
-
- // create motion factor and add it to the feature, and constrain to the other capture (origin)
- emplaceFactor(feature_new, capture_origin );
+ // // create motion feature and add it to the capture
+ // // create motion factor and add it to the feature, and constrain to the other capture (origin)
+ emplaceFeaturesAndFactors(capture_origin, capture_for_keyframe_callback);
// modify existing feature and factor (if they exist in the existing capture)
if (!capture_existing->getFeatureList().empty())
@@ -326,9 +323,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
assert(capture_existing->getFeatureList().empty());// there was only one feature!
- auto new_feature_existing = emplaceFeature(capture_existing);
-
- emplaceFactor(new_feature_existing, capture_for_keyframe_callback);
+ emplaceFeaturesAndFactors(capture_for_keyframe_callback, capture_existing);
}
break;
@@ -406,10 +401,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
splitBuffer(capture_existing, timestamp_from_callback, capture_for_keyframe_callback);
// create motion feature and add it to the capture
- auto feature_for_keyframe_callback = emplaceFeature(capture_for_keyframe_callback);
-
// create motion factor and add it to the feature, and constrain to the other capture (origin)
- emplaceFactor(feature_for_keyframe_callback, capture_origin );
+ emplaceFeaturesAndFactors(capture_origin, capture_for_keyframe_callback);
// reset processor origin
origin_ptr_ = capture_for_keyframe_callback;
@@ -477,10 +470,8 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
keyframe ->link(getProblem());
// create motion feature and add it to the key_capture
- auto key_feature = emplaceFeature(last_ptr_);
-
// create motion factor and link it to parent feature and other frame (which is origin's frame)
- auto factor = emplaceFactor(key_feature, origin_ptr_);
+ emplaceFeaturesAndFactors(origin_ptr_, last_ptr_);
// create a new frame
auto frame_new = std::make_shared<FrameBase>(getTimeStamp(),
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 98f55c0f0d6c5ff9af08d627c1ef4d67b351783e..69dfe4e6ea31ebea40d9b9205db212e40067a4dc 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -164,29 +164,17 @@ CaptureMotionPtr ProcessorOdom2d::emplaceCapture(const FrameBasePtr& _frame_own,
return cap_motion;
}
-FactorBasePtr ProcessorOdom2d::emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin)
+void ProcessorOdom2d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own)
{
- auto fac_odom = FactorBase::emplace<FactorRelativePose2d>(_feature,
- _feature,
- _capture_origin->getFrame(),
- shared_from_this(),
- params_->apply_loss_function,
- TOP_MOTION);
- return fac_odom;
-}
-
-FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
-{
- Eigen::MatrixXd covariance = _capture_motion->getBuffer().back().delta_integr_cov_;
+ Eigen::MatrixXd covariance = _capture_own->getBuffer().back().delta_integr_cov_;
makePosDef(covariance);
- FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
- "ProcessorOdom2d",
- _capture_motion->getBuffer().back().delta_integr_,
- covariance);
- return key_feature_ptr;
-}
+ FeatureBasePtr feature = FeatureBase::emplace<FeatureBase>(
+ _capture_own, "ProcessorOdom2d", _capture_own->getBuffer().back().delta_integr_, covariance);
+ FactorBase::emplace<FactorRelativePose2d>(
+ feature, feature, _capture_origin->getFrame(), shared_from_this(), params_->apply_loss_function, TOP_MOTION);
+}
} /* namespace wolf */
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 83c667484034fb7ac7a8fba03c17b6286f17481a..1870bb66b61021cb0c3b4851eaec97ca5b80d80b 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -213,15 +213,6 @@ CaptureMotionPtr ProcessorOdom3d::emplaceCapture(const FrameBasePtr& _frame_own,
return cap_motion;
}
-FeatureBasePtr ProcessorOdom3d::emplaceFeature(CaptureMotionPtr _capture_motion)
-{
- FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion,
- "ProcessorOdom3d",
- _capture_motion->getBuffer().back().delta_integr_,
- _capture_motion->getBuffer().back().delta_integr_cov_);
- return key_feature_ptr;
-}
-
Eigen::VectorXd ProcessorOdom3d::correctDelta (const Eigen::VectorXd& delta_preint,
const Eigen::VectorXd& delta_step) const
{
@@ -230,15 +221,16 @@ Eigen::VectorXd ProcessorOdom3d::correctDelta (const Eigen::VectorXd& delta_prei
return delta_corrected;
}
-FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, CaptureBasePtr _capture_origin)
+
+void ProcessorOdom3d::emplaceFeaturesAndFactors(CaptureBasePtr _capture_origin, CaptureMotionPtr _capture_own)
{
- auto fac_odom = FactorBase::emplace<FactorRelativePose3d>(_feature_motion,
- _feature_motion,
- _capture_origin->getFrame(),
- shared_from_this(),
- params_->apply_loss_function,
- TOP_MOTION);
- return fac_odom;
+ Eigen::MatrixXd covariance = _capture_own->getBuffer().back().delta_integr_cov_ + unmeasured_perturbation_cov_;
+
+ FeatureBasePtr feature = FeatureBase::emplace<FeatureBase>(
+ _capture_own, "ProcessorOdom3d", _capture_own->getBuffer().back().delta_integr_, covariance);
+
+ FactorBase::emplace<FactorRelativePose3d>(
+ feature, feature, _capture_origin->getFrame(), shared_from_this(), params_->apply_loss_function, TOP_MOTION);
}
VectorXd ProcessorOdom3d::getCalibration (const CaptureBaseConstPtr _capture) const
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index c37bed03e30da209b9b644d49b92011afeeb5f93..2cbbc7e4c732a9c42959cac3d3a01cc769154d5a 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -105,16 +105,16 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
return Base::emplaceCapture(_frame_own, _sensor, _ts, _data, _data_cov, _calib, _calib_preint, _capture_origin);
}
- FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
- {
- return Base::emplaceFeature(_capture_own);
- }
-
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin) override
- {
- return Base::emplaceFactor(_feature_motion, _capture_origin);
- }
+ // FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
+ // {
+ // return Base::emplaceFeature(_capture_own);
+ // }
+
+ // FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ // CaptureBasePtr _capture_origin) override
+ // {
+ // return Base::emplaceFactor(_feature_motion, _capture_origin);
+ // }
ParamsProcessorDiffDrivePtr getParams()
{
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index 0fcf734675b5b4f3f4fa5d3a46e0b6f5d5fa0cc0..9389febe08bac0e5d0e23caff425140a6eacebd2 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -104,16 +104,16 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
return Base::emplaceCapture(_frame_own, _sensor, _ts, _data, _data_cov, _calib, _calib_preint, _capture_origin);
}
- FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
- {
- return Base::emplaceFeature(_capture_own);
- }
-
- FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
- CaptureBasePtr _capture_origin) override
- {
- return Base::emplaceFactor(_feature_motion, _capture_origin);
- }
+ // FeatureBasePtr emplaceFeature(CaptureMotionPtr _capture_own) override
+ // {
+ // return Base::emplaceFeature(_capture_own);
+ // }
+
+ // FactorBasePtr emplaceFactor(FeatureBasePtr _feature_motion,
+ // CaptureBasePtr _capture_origin) override
+ // {
+ // return Base::emplaceFactor(_feature_motion, _capture_origin);
+ // }
ParamsProcessorDiffDrivePtr getParams()
{