From 9af3b593320748302d0530e0cae592b00ee07913 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 2 Aug 2019 02:32:56 +0200
Subject: [PATCH] Use macro for all processor::createAutoConf
---
include/core/processor/processor_diff_drive.h | 2 +-
include/core/processor/processor_odom_2D.h | 2 +-
include/core/processor/processor_odom_3D.h | 1 +
src/processor/processor_diff_drive.cpp | 23 +++----------------
src/processor/processor_odom_2D.cpp | 10 --------
5 files changed, 6 insertions(+), 32 deletions(-)
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 444967322..98e7bfaa3 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -34,8 +34,8 @@ class ProcessorDiffDrive : public ProcessorOdom2D
{
public:
ProcessorDiffDrive(ProcessorParamsDiffDrivePtr _params_motion);
+ WOLF_CREATE_PROCESSOR_AUTO(ProcessorDiffDrive, ProcessorParamsDiffDrive);
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
virtual ~ProcessorDiffDrive();
protected:
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 7edf655b4..e62f7a19b 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -41,6 +41,7 @@ class ProcessorOdom2D : public ProcessorMotion
{
public:
ProcessorOdom2D(ProcessorParamsOdom2DPtr _params);
+ WOLF_CREATE_PROCESSOR_AUTO(ProcessorOdom2D, ProcessorParamsOdom2D);
virtual ~ProcessorOdom2D();
virtual void configure(SensorBasePtr _sensor) override { };
@@ -95,7 +96,6 @@ class ProcessorOdom2D : public ProcessorMotion
// Factory method
public:
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
};
inline Eigen::VectorXs ProcessorOdom2D::deltaZero() const
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index 35e559a3d..98bd95e4a 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -61,6 +61,7 @@ class ProcessorOdom3D : public ProcessorMotion
{
public:
ProcessorOdom3D(ProcessorParamsOdom3DPtr _params);
+ WOLF_CREATE_PROCESSOR_AUTO(ProcessorOdom3D, ProcessorParamsOdom3D);
virtual ~ProcessorOdom3D();
virtual void configure(SensorBasePtr _sensor) override;
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index f57e54a1d..07bf75b34 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -19,7 +19,7 @@ namespace wolf
ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrivePtr _params) :
ProcessorOdom2D(_params),
params_prc_diff_drv_selfcal_(_params),
- radians_per_tick_(0.0) // This params needs further initialization. See this->configure(sensor).
+ radians_per_tick_(0.0) // This param needs further initialization. See this->configure(sensor).
{
setType("DIFF DRIVE"); // overwrite odom2D setting
calib_size_ = 3; // overwrite odom2D setting
@@ -33,16 +33,10 @@ ProcessorDiffDrive::~ProcessorDiffDrive()
ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params)
{
-
-// ProcessorDiffDrivePtr prc_ptr;
-
-// std::shared_ptr<ProcessorParamsDiffDrive> params;
-// if (_params)
- auto params = std::static_pointer_cast<ProcessorParamsDiffDrive>(_params);
-// else
-// params = std::make_shared<ProcessorParamsDiffDrive>();
+ auto params = std::static_pointer_cast<ProcessorParamsDiffDrive>(_params);
auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
+
prc_ptr->setName(_unique_name);
return prc_ptr;
@@ -183,17 +177,6 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
return fac_odom;
}
-///////////// FACTORIES ///////////////
-
-ProcessorBasePtr ProcessorDiffDrive::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
-{
- auto params = std::make_shared<ProcessorParamsDiffDrive>(_unique_name, _server);
-
- auto prc_ptr = std::make_shared<ProcessorDiffDrive>(params);
- prc_ptr->setName(_unique_name);
-
- return prc_ptr;
-}
} /* namespace wolf */
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index f38356493..e9b7dd34a 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -178,16 +178,6 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
return prc_ptr;
}
-ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
-{
- auto params = std::make_shared<ProcessorParamsOdom2D>(_unique_name, _server);
-
- auto prc_ptr = std::make_shared<ProcessorOdom2D>(params);
-
- prc_ptr->setName(_unique_name);
-
- return prc_ptr;
-}
} /* namespace wolf */
--
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