From 9c2872dbf9b68ca5da0e566602aee7df08bfef64 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Wed, 17 Jul 2019 12:46:00 +0200
Subject: [PATCH] Renamed paramsServer -> ParamsServer; parserYAML ->
 ParserYAML

---
 hello_wolf/processor_range_bearing.cpp        |  2 +-
 hello_wolf/processor_range_bearing.h          |  4 +-
 hello_wolf/sensor_range_bearing.cpp           |  2 +-
 hello_wolf/sensor_range_bearing.h             |  4 +-
 include/core/ceres_wrapper/ceres_manager.h    |  2 +-
 include/core/common/params_base.h             |  2 +-
 include/core/problem/problem.h                |  6 +--
 .../processor/autoconf_processor_factory.h    |  2 +-
 include/core/processor/processor_base.h       |  2 +-
 include/core/processor/processor_diff_drive.h |  2 +-
 include/core/processor/processor_motion.h     |  2 +-
 include/core/processor/processor_odom_2D.h    |  4 +-
 include/core/processor/processor_odom_3D.h    |  2 +-
 include/core/processor/processor_tracker.h    |  2 +-
 include/core/sensor/autoconf_sensor_factory.h |  2 +-
 include/core/sensor/sensor_diff_drive.h       |  2 +-
 include/core/sensor/sensor_odom_2D.h          |  4 +-
 include/core/sensor/sensor_odom_3D.h          |  2 +-
 include/core/solver/solver_factory.h          |  2 +-
 include/core/utils/params_server.hpp          |  8 ++--
 include/core/yaml/parser_yaml.hpp             | 42 +++++++++----------
 src/ceres_wrapper/ceres_manager.cpp           |  2 +-
 src/problem/problem.cpp                       |  6 +--
 src/processor/processor_odom_2D.cpp           |  2 +-
 src/sensor/sensor_odom_2D.cpp                 |  2 +-
 test/dummy/processor_tracker_feature_dummy.h  |  2 +-
 test/dummy/processor_tracker_landmark_dummy.h |  2 +-
 test/gtest_param_server.cpp                   |  6 +--
 test/gtest_parser_yaml.cpp                    |  4 +-
 29 files changed, 63 insertions(+), 63 deletions(-)

diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index e63438750..7cf2c04fa 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -124,7 +124,7 @@ ProcessorBasePtr ProcessorRangeBearing::create(const std::string& _unique_name,
 }
 
 ProcessorBasePtr ProcessorRangeBearing::createAutoConf(const std::string& _unique_name,
-                                                  const paramsServer& _server,
+                                                  const ParamsServer& _server,
                                                   const SensorBasePtr _sensor_ptr)
 {
     SensorRangeBearingPtr       sensor_rb = std::static_pointer_cast<SensorRangeBearing>(_sensor_ptr);
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index be9159c30..ff99fddfb 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -26,7 +26,7 @@ struct ProcessorParamsRangeBearing : public ProcessorParamsBase
   {
     //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
   }
-  ProcessorParamsRangeBearing(std::string _unique_name, const paramsServer& _server):
+  ProcessorParamsRangeBearing(std::string _unique_name, const ParamsServer& _server):
     ProcessorParamsBase(_unique_name, _server)
   {
     //
@@ -54,7 +54,7 @@ class ProcessorRangeBearing : public ProcessorBase
                                        const ProcessorParamsBasePtr _params,
                                        const SensorBasePtr sensor_ptr = nullptr);
         static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
-                                          const paramsServer& _server,
+                                          const ParamsServer& _server,
                                           const SensorBasePtr _sensor_ptr = nullptr);
 
     protected:
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 74f2c0e46..7be1171b9 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -43,7 +43,7 @@ SensorBasePtr SensorRangeBearing::create(const std::string& _unique_name, //
 }
 
 SensorBasePtr SensorRangeBearing::createAutoConf(const std::string& _unique_name, //
-                                            const paramsServer& _server)
+                                            const ParamsServer& _server)
 {
     Eigen::Vector2s noise_std(0.1,1.0);
     SensorRangeBearingPtr sensor = std::make_shared<SensorRangeBearing>(Eigen::Vector3s(1,1,0), noise_std);
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 587259b40..f3ed332ff 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -23,7 +23,7 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
     {
         //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
     }
-    IntrinsicsRangeBearing(std::string _unique_name, const paramsServer& _server):
+    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");
@@ -49,7 +49,7 @@ class SensorRangeBearing : public SensorBase
                                     const Eigen::VectorXs& _extrinsics, //
                                     const IntrinsicsBasePtr _intrinsics);
         static SensorBasePtr createAutoConf(const std::string& _unique_name, //
-                                       const paramsServer& _server);
+                                       const ParamsServer& _server);
 };
 
 } /* namespace wolf */
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index 413ecce13..a31f5347c 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -46,7 +46,7 @@ class CeresManager : public SolverManager
 
         ~CeresManager();
 
-        static SolverManagerPtr create(const ProblemPtr& wolf_problem, const paramsServer& _server);
+        static SolverManagerPtr create(const ProblemPtr& wolf_problem, const ParamsServer& _server);
 
         ceres::Solver::Summary getSummary();
 
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 66034e29f..ac9175668 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -7,7 +7,7 @@ namespace wolf {
   struct ParamsBase
   {
     ParamsBase() = default;
-    ParamsBase(std::string _unique_name, const paramsServer&)
+    ParamsBase(std::string _unique_name, const ParamsServer&)
     {
       //
     }
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 6aca54c5d..d1aaba40f 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -63,7 +63,7 @@ class Problem : public std::enable_shared_from_this<Problem>
 
     public:
         static ProblemPtr create(const std::string& _frame_structure, SizeEigen _dim); // USE THIS AS A CONSTRUCTOR!
-        static ProblemPtr autoSetup(paramsServer &_server);
+        static ProblemPtr autoSetup(ParamsServer &_server);
         virtual ~Problem();
 
         // Properties -----------------------------------------
@@ -101,7 +101,7 @@ class Problem : public std::enable_shared_from_this<Problem>
         */
         SensorBasePtr installSensor(const std::string& _sen_type, //
                                     const std::string& _unique_sensor_name,
-                                    const paramsServer& _server);
+                                    const ParamsServer& _server);
         /** \brief get a sensor pointer by its name
          * \param _sensor_name The sensor name, as it was installed with installSensor()
          */
@@ -141,7 +141,7 @@ class Problem : public std::enable_shared_from_this<Problem>
         ProcessorBasePtr installProcessor(const std::string& _prc_type, //
                                           const std::string& _unique_processor_name, //
                                           const std::string& _corresponding_sensor_name, //
-                                          const paramsServer& _server);
+                                          const ParamsServer& _server);
     protected:
         /** \brief Set the processor motion
          *
diff --git a/include/core/processor/autoconf_processor_factory.h b/include/core/processor/autoconf_processor_factory.h
index 0fc1b5de4..051b8d857 100644
--- a/include/core/processor/autoconf_processor_factory.h
+++ b/include/core/processor/autoconf_processor_factory.h
@@ -167,7 +167,7 @@ namespace wolf
 
 typedef Factory<ProcessorBase,
         const std::string&,
-        const paramsServer&,
+        const ParamsServer&,
         const SensorBasePtr> AutoConfProcessorFactory;
 template<>
 inline std::string AutoConfProcessorFactory::getClass()
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index b2027b3d3..3e555eb2e 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -176,7 +176,7 @@ struct ProcessorParamsBase : public ParamsBase
     {
       //
     }
-    ProcessorParamsBase(std::string _unique_name, const paramsServer& _server):
+    ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
         ParamsBase(_unique_name, _server)
     {
         voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "false");
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 78ef6ca50..831fec136 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -20,7 +20,7 @@ struct ProcessorParamsDiffDrive : public ProcessorParamsMotion
 {
   Scalar unmeasured_perturbation_std = 0.0001;
   ProcessorParamsDiffDrive() = default;
-  ProcessorParamsDiffDrive(std::string _unique_name, const paramsServer& _server):
+  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");
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 15f0ca900..c7fc1771f 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -30,7 +30,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
         Scalar angle_turned     = 0.5;
         Scalar unmeasured_perturbation_std  = 1e-4;
         ProcessorParamsMotion() = default;
-        ProcessorParamsMotion(std::string _unique_name, const paramsServer& _server):
+        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");
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 37d6c9ee1..5bb0732f9 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -23,7 +23,7 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
 {
     Scalar cov_det                  = 1.0;      // 1 rad^2
     ProcessorParamsOdom2D() = default;
-    ProcessorParamsOdom2D(std::string _unique_name, const wolf::paramsServer & _server):
+    ProcessorParamsOdom2D(std::string _unique_name, const wolf::ParamsServer & _server):
         ProcessorParamsMotion(_unique_name, _server)
     {
         cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
@@ -91,7 +91,7 @@ class ProcessorOdom2D : public ProcessorMotion
         // Factory method
     public:
         static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
-        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
+        static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
 };
 
 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 1c70a3b33..759912f27 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -22,7 +22,7 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom3D);
 struct ProcessorParamsOdom3D : public ProcessorParamsMotion
 {
   ProcessorParamsOdom3D() = default;
-  ProcessorParamsOdom3D(std::string _unique_name, const paramsServer& _server):
+  ProcessorParamsOdom3D(std::string _unique_name, const ParamsServer& _server):
     ProcessorParamsMotion(_unique_name, _server)
   {
     //
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index bab37b3a2..3915ba33f 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -21,7 +21,7 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
     int max_new_features;                   ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
 
     ProcessorParamsTracker() = default;
-    ProcessorParamsTracker(std::string _unique_name, const wolf::paramsServer & _server):
+    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");
diff --git a/include/core/sensor/autoconf_sensor_factory.h b/include/core/sensor/autoconf_sensor_factory.h
index e52366e33..2d3630787 100644
--- a/include/core/sensor/autoconf_sensor_factory.h
+++ b/include/core/sensor/autoconf_sensor_factory.h
@@ -210,7 +210,7 @@ namespace wolf
 
 typedef Factory<SensorBase,
                 const std::string&,
-                const paramsServer&> AutoConfSensorFactory;
+                const ParamsServer&> AutoConfSensorFactory;
 
 template<>
 inline std::string AutoConfSensorFactory::getClass()
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 114be0e4d..e67374380 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -38,7 +38,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
     {
         //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
     }
-    IntrinsicsDiffDrive(std::string _unique_name, const paramsServer& _server):
+    IntrinsicsDiffDrive(std::string _unique_name, const ParamsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
 
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index 94bbd03d3..efe8d7e4d 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -19,7 +19,7 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
     {
         //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
     }
-    IntrinsicsOdom2D(std::string _unique_name, const paramsServer& _server):
+    IntrinsicsOdom2D(std::string _unique_name, const ParamsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
         k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
@@ -63,7 +63,7 @@ class SensorOdom2D : public SensorBase
 
 	public:
         static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXs& _extrinsics_pq, const IntrinsicsBasePtr _intrinsics);
-        static SensorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server);
+        static SensorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
 
 };
 
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index b5ec6717f..2fab5f065 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -27,7 +27,7 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
     {
         //DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
     }
-    IntrinsicsOdom3D(std::string _unique_name, const paramsServer& _server):
+    IntrinsicsOdom3D(std::string _unique_name, const ParamsServer& _server):
         IntrinsicsBase(_unique_name, _server)
     {
         k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
diff --git a/include/core/solver/solver_factory.h b/include/core/solver/solver_factory.h
index 36a551b66..5205ad5c9 100644
--- a/include/core/solver/solver_factory.h
+++ b/include/core/solver/solver_factory.h
@@ -211,7 +211,7 @@ namespace wolf
 
 typedef Factory<SolverManager,
                 const ProblemPtr&,
-                const paramsServer&> SolverFactory;
+                const ParamsServer&> SolverFactory;
 
 template<>
 inline std::string SolverFactory::getClass()
diff --git a/include/core/utils/params_server.hpp b/include/core/utils/params_server.hpp
index 74fb8f3e7..34d2f8734 100644
--- a/include/core/utils/params_server.hpp
+++ b/include/core/utils/params_server.hpp
@@ -5,7 +5,7 @@
 #include <map>
 #include "core/utils/converter.h"
 namespace wolf{
-class paramsServer{
+class ParamsServer{
     struct ParamsInitSensor{
         std::string _type;
         std::string _name;
@@ -19,12 +19,12 @@ class paramsServer{
     std::map<std::string,ParamsInitSensor> _paramsSens;
     std::map<std::string,ParamsInitProcessor> _paramsProc;
 public:
-    paramsServer(){
+    ParamsServer(){
         _params = std::map<std::string, std::string>();
         _paramsSens = std::map<std::string,ParamsInitSensor>();
         _paramsProc = std::map<std::string,ParamsInitProcessor>();
     }
-    paramsServer(std::map<std::string, std::string> params,
+    ParamsServer(std::map<std::string, std::string> params,
                  std::vector<std::array<std::string,2>> sensors,
                  std::vector<std::array<std::string,3>> procs){
         _params = params;
@@ -39,7 +39,7 @@ public:
             _paramsProc.insert(std::pair<std::string,ParamsInitProcessor>(it.at(1), pProcs));
         }
     }
-    ~paramsServer(){
+    ~ParamsServer(){
         //
     }
     void print(){
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index dbbba4103..226d3cca1 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/include/core/yaml/parser_yaml.hpp
@@ -75,7 +75,7 @@ namespace {
         return "[" + accumulated + "]";
     }
 }
-class parserYAML {
+class ParserYAML {
     struct ParamsInitSensor{
         std::string _type;
         std::string _name;
@@ -99,7 +99,7 @@ class parserYAML {
     YAML::Node problem;
     std::string generatePath(std::string);
 public:
-    parserYAML(){
+    ParserYAML(){
         _params = std::map<std::string, std::string>();
         _active_name = "";
         _paramsSens = std::vector<ParamsInitSensor>();
@@ -110,7 +110,7 @@ public:
         _relative_path = false;
         _callbacks = std::vector<std::array<std::string, 3>>();
     }
-    parserYAML(std::string file){
+    ParserYAML(std::string file){
         _params = std::map<std::string, std::string>();
         _active_name = "";
         _paramsSens = std::vector<ParamsInitSensor>();
@@ -121,7 +121,7 @@ public:
         _relative_path = false;
         _callbacks = std::vector<std::array<std::string, 3>>();
     }
-    parserYAML(std::string file, std::string path_root){
+    ParserYAML(std::string file, std::string path_root){
         _params = std::map<std::string, std::string>();
         _active_name = "";
         _paramsSens = std::vector<ParamsInitSensor>();
@@ -138,7 +138,7 @@ public:
         }
         _callbacks = std::vector<std::array<std::string, 3>>();
     }
-    ~parserYAML(){
+    ~ParserYAML(){
         //
     }
     void walkTree(std::string file);
@@ -157,7 +157,7 @@ public:
     void parse();
     std::map<std::string, std::string> fetchAsMap(YAML::Node);
 };
-std::string parserYAML::generatePath(std::string path){
+std::string ParserYAML::generatePath(std::string path){
     std::regex r("^/.*");
     if(std::regex_match(path, r)){
       std::cout << "Generating " + path << std::endl;
@@ -167,25 +167,25 @@ std::string parserYAML::generatePath(std::string path){
         return _path_root + path;
     }
 }
-std::string parserYAML::tagsToString(std::vector<std::string> &tags){
+std::string ParserYAML::tagsToString(std::vector<std::string> &tags){
     std::string hdr = "";
     for(auto it : tags){
         hdr = hdr + "/" + it;
     }
     return hdr;
 }
-void parserYAML::walkTree(std::string file){
+void ParserYAML::walkTree(std::string file){
     YAML::Node n;
     n = YAML::LoadFile(generatePath(file));
     std::vector<std::string> hdrs = std::vector<std::string>();
     walkTreeR(n, hdrs, "");
 }
-void parserYAML::walkTree(std::string file, std::vector<std::string>& tags){
+void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags){
     YAML::Node n;
     n = YAML::LoadFile(generatePath(file));
     walkTreeR(n, tags, "");
 }
-void parserYAML::walkTree(std::string file, std::vector<std::string>& tags, std::string hdr){
+void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags, std::string hdr){
     YAML::Node n;
     n = YAML::LoadFile(generatePath(file));
     walkTreeR(n, tags, hdr);
@@ -195,7 +195,7 @@ void parserYAML::walkTree(std::string file, std::vector<std::string>& tags, std:
 * @param tags represents the path from the root of the YAML tree to the current node
 * @param hdr is the name of the current YAML node
 */
-void parserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::string hdr){
+void ParserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::string hdr){
     switch (n.Type()) {
     case YAML::NodeType::Scalar : {
         std::regex r("^@.*");
@@ -276,13 +276,13 @@ void parserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::st
         break;
     }
 }
-void parserYAML::updateActiveName(std::string tag){
+void ParserYAML::updateActiveName(std::string tag){
     this->_active_name = tag;
 }
 /** @Brief Parse the sensors, processors, callbacks and files elements of the YAML file. We assume that these elements
     are defined at the top level of the YAML file.
  * @param file is the path to the YAML file */
-void parserYAML::parseFirstLevel(std::string file){
+void ParserYAML::parseFirstLevel(std::string file){
     YAML::Node n;
     n = YAML::LoadFile(generatePath(file));
 
@@ -306,32 +306,32 @@ void parserYAML::parseFirstLevel(std::string file){
     }
     _params.insert(std::pair<std::string,std::string>("files", wolf::converter<std::string>::convert(_files)));
 }
-std::vector<std::array<std::string, 2>> parserYAML::sensorsSerialization(){
+std::vector<std::array<std::string, 2>> ParserYAML::sensorsSerialization(){
     std::vector<std::array<std::string, 2>> aux = std::vector<std::array<std::string, 2>>();
     for(auto it : this->_paramsSens)
         aux.push_back({{it._type,it._name}});
     return aux;
 }
-std::vector<std::array<std::string, 3>> parserYAML::processorsSerialization(){
+std::vector<std::array<std::string, 3>> ParserYAML::processorsSerialization(){
     std::vector<std::array<std::string, 3>> aux = std::vector<std::array<std::string, 3>>();
     for(auto it : this->_paramsProc)
         aux.push_back({{it._type,it._name,it._name_assoc_sensor}});
     return aux;
 }
-std::vector<std::string> parserYAML::getFiles(){
+std::vector<std::string> ParserYAML::getFiles(){
     return this->_files;
 }
-std::vector<std::array<std::string, 3>> parserYAML::getCallbacks(){
+std::vector<std::array<std::string, 3>> ParserYAML::getCallbacks(){
     return this->_callbacks;
 }
-std::vector<std::array<std::string, 2>> parserYAML::getProblem(){
+std::vector<std::array<std::string, 2>> ParserYAML::getProblem(){
     return std::vector<std::array<std::string, 2>>();
 }
-std::map<std::string,std::string> parserYAML::getParams(){
+std::map<std::string,std::string> ParserYAML::getParams(){
     std::map<std::string,std::string> rtn = _params;
     return rtn;
 }
-void parserYAML::parse(){
+void ParserYAML::parse(){
     this->parseFirstLevel(this->_file);
 
     if(this->problem.Type() != YAML::NodeType::Undefined){
@@ -373,7 +373,7 @@ std::string fetchMapEntry(YAML::Node n){
  *  @param n the node representing a map
  *  @return std::map<std::string, std::string> populated with the key,value pairs in n
  */
-std::map<std::string, std::string> parserYAML::fetchAsMap(YAML::Node n){
+std::map<std::string, std::string> ParserYAML::fetchAsMap(YAML::Node n){
     assert(n.Type() == YAML::NodeType::Map && "trying to fetch as Map a non-Map node");
     auto m = std::map<std::string, std::string>();
     for(const auto& kv : n){
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 681f3d59e..1528c15e7 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -40,7 +40,7 @@ CeresManager::~CeresManager()
         removeFactor(fac_2_residual_idx_.begin()->first);
 }
 
-SolverManagerPtr CeresManager::create(const ProblemPtr &wolf_problem, const paramsServer &_server)
+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");
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index daca9ba3a..4565bb622 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -73,7 +73,7 @@ ProblemPtr Problem::create(const std::string& _frame_structure, SizeEigen _dim)
     p->setup();
     return p->shared_from_this();
 }
-ProblemPtr Problem::autoSetup(paramsServer &_server)
+ProblemPtr Problem::autoSetup(ParamsServer &_server)
 {
     std::string frame_structure = _server.getParam<std::string>("problem/frame structure", "PO");
     int dim = _server.getParam<int>("problem/dimension", "2");
@@ -143,7 +143,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
 
 SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
                                      const std::string& _unique_sensor_name, //
-                                     const paramsServer& _server)
+                                     const ParamsServer& _server)
 {
     SensorBasePtr sen_ptr = AutoConfSensorFactory::get().create(uppercase(_sen_type), _unique_sensor_name, _server);
     sen_ptr->link(getHardware());
@@ -198,7 +198,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
 ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
                                            const std::string& _unique_processor_name, //
                                            const std::string& _corresponding_sensor_name, //
-                                           const paramsServer& _server)
+                                           const ParamsServer& _server)
 {
     SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index 38dccacd9..48a274778 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -195,7 +195,7 @@ 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)
+ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
 {
 
     ProcessorOdom2DPtr prc_ptr;
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index f6b408c7e..fd4427abe 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -58,7 +58,7 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
     return odo;
 }
 
-SensorBasePtr SensorOdom2D::createAutoConf(const std::string& _unique_name, const paramsServer& _server)
+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]");
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 3621ce301..217196b7e 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -22,7 +22,7 @@ struct ProcessorParamsTrackerFeatureDummy : public ProcessorParamsTrackerFeature
     unsigned int n_tracks_lost; ///< number of tracks lost each time track is called (the first ones)
 
     ProcessorParamsTrackerFeatureDummy() = default;
-    ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::paramsServer & _server):
+    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");
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 7dce7d14e..f79b2da40 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -20,7 +20,7 @@ struct ProcessorParamsTrackerLandmarkDummy : public ProcessorParamsTrackerLandma
     unsigned int n_landmarks_lost; ///< number of landmarks lost each time findLandmarks is called (the last ones)
 
     ProcessorParamsTrackerLandmarkDummy() = default;
-    ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::paramsServer & _server):
+    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");
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index dc5f5a5aa..00c6c099f 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -9,9 +9,9 @@ using namespace wolf;
 
 std::string wolf_root = _WOLF_ROOT_DIR;
 
-parserYAML parse(string _file, string _path_root)
+ParserYAML parse(string _file, string _path_root)
 {
-  parserYAML parser = parserYAML(_file, _path_root);
+  ParserYAML parser = ParserYAML(_file, _path_root);
   parser.parse();
   return parser;
 }
@@ -20,7 +20,7 @@ TEST(ParamsServer, Default)
 {
   auto parser = parse("test/yaml/params1.yaml", wolf_root);
   auto params = parser.getParams();
-  paramsServer server = paramsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
+  ParamsServer server = ParamsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
   EXPECT_EQ(server.getParam<double>("should_not_exist", "2.6"), 2.6);
   EXPECT_EQ(server.getParam<bool>("my_proc_test/voting_active", "true"), false);
   EXPECT_NE(server.getParam<unsigned int>("my_proc_test/time_tolerance", "23"), 23);
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index d3ba3a405..5102157d0 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -8,9 +8,9 @@ using namespace wolf;
 
 std::string wolf_root = _WOLF_ROOT_DIR;
 
-parserYAML parse(string _file, string _path_root)
+ParserYAML parse(string _file, string _path_root)
 {
-  parserYAML parser = parserYAML(_file, _path_root);
+  ParserYAML parser = ParserYAML(_file, _path_root);
   parser.parse();
   return parser;
 }
-- 
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