From 8eb953e1cc4ba2c970e6b9fb058be3b671d3c338 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 18 Jul 2019 20:18:54 +0300
Subject: [PATCH] Remove default YAML values
---
hello_wolf/processor_range_bearing.cpp | 4 +---
hello_wolf/sensor_range_bearing.h | 4 ++--
include/core/processor/processor_base.h | 6 +++---
include/core/processor/processor_diff_drive.h | 2 +-
include/core/processor/processor_motion.h | 13 +++++++------
include/core/processor/processor_odom_2D.h | 5 +++--
include/core/processor/processor_tracker.h | 4 ++--
include/core/sensor/sensor_diff_drive.h | 6 +++---
src/ceres_wrapper/ceres_manager.cpp | 2 +-
src/problem/problem.cpp | 4 ++--
src/processor/processor_odom_2D.cpp | 11 ++---------
src/sensor/sensor_odom_2D.cpp | 13 +++++++------
test/dummy/processor_tracker_feature_dummy.h | 2 +-
test/dummy/processor_tracker_landmark_dummy.h | 2 +-
14 files changed, 36 insertions(+), 42 deletions(-)
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 54bbb3aec..be22913c2 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -120,9 +120,7 @@ ProcessorBasePtr ProcessorRangeBearing::createAutoConf(const std::string& _uniqu
const SensorBasePtr _sensor_ptr)
{
SensorRangeBearingPtr sensor_rb = std::static_pointer_cast<SensorRangeBearing>(_sensor_ptr);
- ProcessorParamsRangeBearingPtr params = std::make_shared<ProcessorParamsRangeBearing>();
- params->voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "false");
- params->time_tolerance = _server.getParam<double>(_unique_name + "/time_tolerance", "0.01");
+ ProcessorParamsRangeBearingPtr params = std::make_shared<ProcessorParamsRangeBearing>(_unique_name, _server);
// construct processor
ProcessorRangeBearingPtr prc = std::make_shared<ProcessorRangeBearing>(sensor_rb, params);
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 161818df6..2c3348236 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -26,8 +26,8 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
IntrinsicsRangeBearing(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise range metres std", "0.05");
- noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise bearing degrees std", "0.5");
+ noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std");
+ noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std");
}
std::string print()
{
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 00722d20b..744e03fe6 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -179,9 +179,9 @@ struct ProcessorParamsBase : public ParamsBase
ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
ParamsBase(_unique_name, _server)
{
- voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "false");
- voting_aux_active = _server.getParam<bool>(_unique_name + "/voting_aux_active", "false");
- time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance", "0");
+ voting_active = _server.getParam<bool>(_unique_name + "/voting_active");
+ voting_aux_active = _server.getParam<bool>(_unique_name + "/voting_aux_active");
+ time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance");
}
virtual ~ProcessorParamsBase() = default;
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 831fec136..36b6d5aa0 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -23,7 +23,7 @@ struct ProcessorParamsDiffDrive : public ProcessorParamsMotion
ProcessorParamsDiffDrive(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsMotion(_unique_name, _server)
{
- unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std", "0.0001");
+ unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std");
}
std::string print()
{
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 8f68501f6..a5ff4c533 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -33,15 +33,16 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
ProcessorParamsMotion(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsBase(_unique_name, _server)
{
- max_time_span = _server.getParam<Scalar>(_unique_name + "/max_time_span", "0.5");
- max_buff_length = _server.getParam<unsigned int>(_unique_name + "/max_buff_length", "10");
- dist_traveled = _server.getParam<Scalar>(_unique_name + "/dist_traveled", "5");
- angle_turned = _server.getParam<Scalar>(_unique_name + "/angle_turned", "0.5");
- unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std", "1e-4");
+ max_time_span = _server.getParam<Scalar>(_unique_name + "/max_time_span");
+ max_buff_length = _server.getParam<unsigned int>(_unique_name + "/max_buff_length");
+ dist_traveled = _server.getParam<Scalar>(_unique_name + "/dist_traveled");
+ angle_turned = _server.getParam<Scalar>(_unique_name + "/angle_turned");
+ unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std");
}
std::string print()
{
- return "\n" + ProcessorParamsBase::print() + "max_time_span: " + std::to_string(max_time_span) + "\n"
+ return "\n" + ProcessorParamsBase::print()
+ + "max_time_span: " + std::to_string(max_time_span) + "\n"
+ "max_buff_length: " + std::to_string(max_buff_length) + "\n"
+ "dist_traveled: " + std::to_string(dist_traveled) + "\n"
+ "angle_turned: " +std::to_string(angle_turned) + "\n"
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 7c7c1cd0a..7b1acb5b2 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -26,11 +26,12 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
ProcessorParamsOdom2D(std::string _unique_name, const wolf::ParamsServer & _server) :
ProcessorParamsMotion(_unique_name, _server)
{
- cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
+ cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det");
}
std::string print()
{
- return "\n" + ProcessorParamsMotion::print() + "cov_det: " + std::to_string(cov_det) + "\n";
+ return "\n" + ProcessorParamsMotion::print()
+ + "cov_det: " + std::to_string(cov_det) + "\n";
}
};
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 3915ba33f..1c9277989 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -24,8 +24,8 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsBase(_unique_name, _server)
{
- min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe", "1");
- max_new_features = _server.getParam<int>(_unique_name + "/max_new_features", "-1");
+ min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe");
+ max_new_features = _server.getParam<int>(_unique_name + "/max_new_features");
}
std::string print()
{
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index e67374380..2988669c9 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -52,13 +52,13 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
else if(model_str.compare("Five_Factor_Model")) model_ = DiffDriveModel::Five_Factor_Model;
else throw std::runtime_error("Failed to fetch a valid value for the enumerate DiffDriveModel. Value provided: " + model_str);
- factors_ = _server.getParam<Eigen::VectorXs>(_unique_name + "/factors", "[1,1,1]");
+ factors_ = _server.getParam<Eigen::VectorXs>(_unique_name + "/factors");
left_resolution_ = _server.getParam<Scalar>(_unique_name + "/left_resolution_");
right_resolution_ = _server.getParam<Scalar>(_unique_name + "/right_resolution_");
- left_gain_ = _server.getParam<Scalar>(_unique_name + "/left_gain", "0.01");
- right_gain_ = _server.getParam<Scalar>(_unique_name + "/right_gain", "0.01");
+ left_gain_ = _server.getParam<Scalar>(_unique_name + "/left_gain");
+ right_gain_ = _server.getParam<Scalar>(_unique_name + "/right_gain");
}
virtual ~IntrinsicsDiffDrive() = default;
std::string print()
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 1528c15e7..b64e86ab9 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -43,7 +43,7 @@ CeresManager::~CeresManager()
SolverManagerPtr CeresManager::create(const ProblemPtr &wolf_problem, const ParamsServer &_server)
{
ceres::Solver::Options opt;
- opt.max_num_iterations = _server.getParam<int>("max_num_iterations","1000");
+ opt.max_num_iterations = _server.getParam<int>("max_num_iterations");
// CeresManager m = CeresManager(wolf_problem, opt);
return std::make_shared<CeresManager>(wolf_problem, opt);
}
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index eab55cc02..a90448029 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -77,8 +77,8 @@ ProblemPtr Problem::create(const std::string& _frame_structure, SizeEigen _dim)
ProblemPtr Problem::autoSetup(ParamsServer &_server)
{
// Problem structure and dimension
- std::string frame_structure = _server.getParam<std::string> ("problem/frame structure", "PO");
- int dim = _server.getParam<int> ("problem/dimension", "2");
+ std::string frame_structure = _server.getParam<std::string> ("problem/frame_structure");
+ int dim = _server.getParam<int> ("problem/dimension");
auto problem = Problem::create(frame_structure, dim);
// cout << "PRINTING SERVER MAP" << endl;
// _server.print();
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index 48a274778..1d61bd14b 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -195,20 +195,13 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
return prc_ptr;
}
+
ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
{
-
ProcessorOdom2DPtr prc_ptr;
std::shared_ptr<ProcessorParamsOdom2D> params;
- params = std::make_shared<ProcessorParamsOdom2D>();
- params->voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "true");
- params->time_tolerance = _server.getParam<double>(_unique_name + "/time_tolerance", "0.1");
- params->max_time_span = _server.getParam<double>(_unique_name + "/max_time_span", "999");
- params->dist_traveled = _server.getParam<double>(_unique_name + "/dist_traveled", "0.95"); // Will make KFs automatically every 1m displacement
- params->angle_turned = _server.getParam<double>(_unique_name + "/angle_turned", "999");
- params->cov_det = _server.getParam<double>(_unique_name + "/cov_det", "999");
- params->unmeasured_perturbation_std = _server.getParam<double>(_unique_name + "/unmeasured_perturbation_std", "0.0001");
+ params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server);
prc_ptr = std::make_shared<ProcessorOdom2D>(params);
prc_ptr->setName(_unique_name);
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index fd4427abe..c96059e58 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -61,14 +61,15 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
SensorBasePtr SensorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
{
// Eigen::VectorXs _extrinsics_po = Eigen::Vector3s(0,0,0);
- Eigen::VectorXs _extrinsics_po = _server.getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pos", "[0,0,0]");
+ Eigen::VectorXs _extrinsics_po = _server.getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pose");
+
assert(_extrinsics_po.size() == 3 && "Bad extrinsics vector length. Should be 3 for 2D.");
- SensorOdom2DPtr odo;
- IntrinsicsOdom2D params;
- params.k_disp_to_disp = _server.getParam<double>(_unique_name + "/intrinsic/k_disp_to_disp", "1");
- params.k_rot_to_rot = _server.getParam<double>(_unique_name + "/intrinsic/k_rot_to_rot", "1");
- odo = std::make_shared<SensorOdom2D>(_extrinsics_po, params);
+
+ IntrinsicsOdom2DPtr params = std::make_shared<IntrinsicsOdom2D>(_unique_name, _server);
+
+ SensorOdom2DPtr odo = std::make_shared<SensorOdom2D>(_extrinsics_po, params);
odo->setName(_unique_name);
+
return odo;
}
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 217196b7e..d4f6dfbcd 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -25,7 +25,7 @@ struct ProcessorParamsTrackerFeatureDummy : public ProcessorParamsTrackerFeature
ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerFeature(_unique_name, _server)
{
- n_tracks_lost = _server.getParam<unsigned int>(_unique_name + "/n_tracks_lost", "1");
+ n_tracks_lost = _server.getParam<unsigned int>(_unique_name + "/n_tracks_lost");
}
};
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index f79b2da40..9977abc48 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -23,7 +23,7 @@ struct ProcessorParamsTrackerLandmarkDummy : public ProcessorParamsTrackerLandma
ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerLandmark(_unique_name, _server)
{
- n_landmarks_lost = _server.getParam<unsigned int>(_unique_name + "/n_landmarks_lost", "1");
+ n_landmarks_lost = _server.getParam<unsigned int>(_unique_name + "/n_landmarks_lost");
}
};
--
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