identation and documentation

include/core/factor/factor_base.h

@@ -20,8 +20,8 @@ namespace wolf {
  */
 typedef enum
 {
-    FAC_INACTIVE = 0,   ///< Factor established with a frame (odometry).
-    FAC_ACTIVE = 1      ///< Factor established with absolute reference.
+    FAC_INACTIVE = 0,   ///< Inactive factor, it is not included in the SLAM problem.
+    FAC_ACTIVE = 1      ///< Normal active factor, playing its role in the solution.
 } FactorStatus;
 
 /** \brief Enumeration of jacobian computation method
@@ -45,23 +45,27 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
 
     protected:
         unsigned int factor_id_;
-        FactorStatus status_;                       ///< status of factor (types defined at wolf.h)
+        FactorStatus status_;                           ///< status of factor
         bool apply_loss_function_;                      ///< flag for applying loss function to this factor
-        FrameBaseWPtr frame_other_ptr_;                 ///< FrameBase pointer (for category FAC_FRAME)
+        FrameBaseWPtr frame_other_ptr_;                 ///< FrameBase pointer
         CaptureBaseWPtr capture_other_ptr_;             ///< CaptureBase pointer
-        FeatureBaseWPtr feature_other_ptr_;             ///< FeatureBase pointer (for category FAC_FEATURE)
-        LandmarkBaseWPtr landmark_other_ptr_;           ///< LandmarkBase pointer (for category FAC_LANDMARK)
+        FeatureBaseWPtr feature_other_ptr_;             ///< FeatureBase pointer
+        LandmarkBaseWPtr landmark_other_ptr_;           ///< LandmarkBase pointer
         ProcessorBaseWPtr processor_ptr_;               ///< ProcessorBase pointer
 
     public:
 
-        /** \brief Constructor of category FAC_ABSOLUTE
+        /** \brief Constructor not involving nodes of other frames, only feature, capture and/or frame of this factor
          **/
         FactorBase(const std::string&  _tp,
                    bool _apply_loss_function = false,
                    FactorStatus _status = FAC_ACTIVE);
 
-        /** \brief Constructor valid for all categories (FRAME, CAPTURE; FEATURE, LANDMARK)
+        /** \brief Default constructor.
+         *
+         * IMPORTANT: "other" means "of another branch of the wolf tree".
+         * You should only provide a non-nullptr in frame/capture/feature_other_ptr in case of a frame/capture/feature involved in this factor
+         * that does not located in the same branch.
          **/
         FactorBase(const std::string&  _tp,
                    const FrameBasePtr& _frame_other_ptr,
@@ -134,10 +138,6 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
          */
         bool getApplyLossFunction();
 
-        /** \brief Gets the apply loss function flag
-         */
-        //void setApplyLossFunction(const bool _apply);
-
         /** \brief Returns a pointer to the frame constrained to
          **/
         FrameBasePtr getFrameOther() const       { return frame_other_ptr_.lock(); }
@@ -161,12 +161,6 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
          */
         ProcessorBasePtr getProcessor() const;
 
-        /**
-         * @brief setProcessor
-         * @param _processor_ptr
-         */
-        void setProcessor(const ProcessorBasePtr& _processor_ptr);
-
         void link(FeatureBasePtr ftr);
         virtual void setProblem(ProblemPtr) final;
         template<typename classType, typename... T>
@@ -175,6 +169,12 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
     private:
 
         void setFeature(const FeatureBasePtr _ft_ptr){feature_ptr_ = _ft_ptr;}
+
+        /**
+         * @brief setProcessor
+         * @param _processor_ptr
+         */
+        void setProcessor(const ProcessorBasePtr& _processor_ptr);
 };
 
 }

include/core/processor/processor_tracker_feature.h

@@ -119,7 +119,10 @@ class ProcessorTrackerFeature : public ProcessorTracker
          * \param _features_out returned list of features found in \b _capture
          * \param _feature_correspondences returned map of correspondences: _feature_correspondences[feature_out_ptr] = feature_in_ptr
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
+         * If you detect all the features at once in preprocess(), you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
+         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
          *
          * \return the number of features tracked
          */
@@ -163,7 +166,10 @@ class ProcessorTrackerFeature : public ProcessorTracker
          *
          * This function detects Features that do not correspond to known Features/Landmarks in the system.
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
+         * If you detect all the features at once in preprocess(), you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
+         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
          *
          * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

include/core/processor/processor_tracker_feature_dummy.h

@@ -51,7 +51,8 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
          * \param _features_out returned list of features found in \b _capture
          * \param _feature_correspondences returned map of correspondences: _feature_correspondences[feature_out_ptr] = feature_in_ptr
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
          *
          * \return the number of features tracked
          */
@@ -84,7 +85,8 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
          *
          * This function detects Features that do not correspond to known Features/Landmarks in the system.
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
          *
          * The function is called in ProcessorTrackerFeature::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

include/core/processor/processor_tracker_landmark.h

@@ -110,7 +110,10 @@ class ProcessorTrackerLandmark : public ProcessorTracker
          * \param _features_out returned list of features  found in \b _capture corresponding to a landmark of _landmarks_in
          * \param _feature_landmark_correspondences returned map of landmark correspondences: _feature_landmark_correspondences[_feature_out_ptr] = landmark_in_ptr
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
+         * If you detect all the features at once in `preprocess()`, you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
+         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
          *
          * \return the number of landmarks found
          */
@@ -145,7 +148,10 @@ class ProcessorTrackerLandmark : public ProcessorTracker
          *
          * This function detects Features that do not correspond to known Features/Landmarks in the system.
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
+         * If you detect all the features at once in `preprocess()`, you should either emplace them (`FeatureBase::emplace()`) and remove the not returned features in _features_out (`FeatureBase::remove()`),
+         * or create them (`make_shared()`) and link all the returned features in _features_out (`FeatureBase::link(_capture)`).
          *
          * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

include/core/processor/processor_tracker_landmark_dummy.h

@@ -46,7 +46,8 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
          * \param _features_out returned list of features  found in \b _capture corresponding to a landmark of _landmarks_in
          * \param _feature_landmark_correspondences returned map of landmark correspondences: _feature_landmark_correspondences[_feature_out_ptr] = landmark_in_ptr
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
          *
          * \return the number of landmarks found
          */
@@ -72,7 +73,8 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
          *
          * This function detects Features that do not correspond to known Features/Landmarks in the system.
          *
-         * IMPORTANT: The features in _features_out should be emplaced. It means, they have to be already linked to the _capture
+         * IMPORTANT: The features in _features_out should be emplaced. Don't use `make_shared`, use `FeatureBase::emplace` instead.
+         * Then, they will be already linked to the _capture.
          *
          * The function is called in ProcessorTrackerLandmark::processNew() to set the member new_features_last_,
          * the list of newly detected features of the capture last_ptr_.

src/factor/factor_base.cpp

@@ -7,8 +7,8 @@ namespace wolf {
 unsigned int FactorBase::factor_id_count_ = 0;
 
 FactorBase::FactorBase(const std::string&  _tp,
-                               bool _apply_loss_function,
-                               FactorStatus _status) :
+                       bool _apply_loss_function,
+                       FactorStatus _status) :
     NodeBase("FACTOR", _tp),
     feature_ptr_(), // nullptr
     factor_id_(++factor_id_count_),
@@ -23,12 +23,13 @@ FactorBase::FactorBase(const std::string&  _tp,
 }
 
 FactorBase::FactorBase(const std::string&  _tp,
-                               const FrameBasePtr& _frame_other_ptr,
-                               const CaptureBasePtr& _capture_other_ptr,
-                               const FeatureBasePtr& _feature_other_ptr,
-                               const LandmarkBasePtr& _landmark_other_ptr,
-                               const ProcessorBasePtr& _processor_ptr,
-                               bool _apply_loss_function, FactorStatus _status) :
+                       const FrameBasePtr& _frame_other_ptr,
+                       const CaptureBasePtr& _capture_other_ptr,
+                       const FeatureBasePtr& _feature_other_ptr,
+                       const LandmarkBasePtr& _landmark_other_ptr,
+                       const ProcessorBasePtr& _processor_ptr,
+                       bool _apply_loss_function,
+                       FactorStatus _status) :
     NodeBase("FACTOR", _tp),
     feature_ptr_(),
     factor_id_(++factor_id_count_),