diff --git a/demos/hello_wolf/capture_range_bearing.cpp b/demos/hello_wolf/capture_range_bearing.cpp
index a2d44a101085ea0ad3aa4ae7d68af68370ea5024..9ead1c183b8b08a64f709faea5236d5dbb056231 100644
--- a/demos/hello_wolf/capture_range_bearing.cpp
+++ b/demos/hello_wolf/capture_range_bearing.cpp
@@ -11,7 +11,7 @@ namespace wolf
{
CaptureRangeBearing::CaptureRangeBearing(const TimeStamp& _ts, const SensorBasePtr& _scanner, const Eigen::VectorXi& _ids, const Eigen::VectorXd& _ranges, const Eigen::VectorXd& _bearings) :
- CaptureBase("RANGE BEARING", _ts, _scanner),
+ CaptureBase("CaptureRangeBearing", _ts, _scanner),
ids_(_ids),
ranges_(_ranges),
bearings_(_bearings)
diff --git a/demos/hello_wolf/feature_range_bearing.cpp b/demos/hello_wolf/feature_range_bearing.cpp
index 4d47cc5539f5fcfe2cc011ea4c4e6e11d2685f90..ea584a419aa21c1d7e462824d6872f7d57bd818c 100644
--- a/demos/hello_wolf/feature_range_bearing.cpp
+++ b/demos/hello_wolf/feature_range_bearing.cpp
@@ -11,7 +11,7 @@ namespace wolf
{
FeatureRangeBearing::FeatureRangeBearing(const Eigen::VectorXd& _measurement, const Eigen::MatrixXd& _meas_covariance) :
- FeatureBase("RANGE BEARING", _measurement, _meas_covariance)
+ FeatureBase("FeatureRangeBearing", _measurement, _meas_covariance)
{
//
}
diff --git a/demos/hello_wolf/landmark_point_2d.cpp b/demos/hello_wolf/landmark_point_2d.cpp
index 835c4fb04e4f7b1e5695958ca9db3cbb810c5ec5..8b2ad4c0e8a9b576f67e9d8d56e41d932abedef8 100644
--- a/demos/hello_wolf/landmark_point_2d.cpp
+++ b/demos/hello_wolf/landmark_point_2d.cpp
@@ -11,7 +11,7 @@ namespace wolf
{
LandmarkPoint2d::LandmarkPoint2d(int _id, const Eigen::Vector2d& _xy) :
- LandmarkBase("POINT 2d", std::make_shared<StateBlock>(_xy))
+ LandmarkBase("LandmarkPoint2d", std::make_shared<StateBlock>(_xy))
{
setId(_id);
}
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 4488ab30ec274eeb84e49b7dcd600de9a93acf5e..2a6120408718df85ebb2945c9800d71b0060b6fd 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -27,8 +27,8 @@ namespace wolf {
* - "LANDMARK"
*
* - A unique type, which is a subcategory of the above. The list here cannot be exhaustive, but a few examples follow:
- * - "SesorCamera"
- * - "SesorLaser2d"
+ * - "SensorCamera"
+ * - "SensorLaser2d"
* - "LandmarkPoint3d"
* - "ProcessorLaser2d"
*
diff --git a/include/core/factor/factor_autodiff_distance_3d.h b/include/core/factor/factor_autodiff_distance_3d.h
index 8dc182d6f92ec60d7ba310ed1e7f94e27a9281fc..1ef90ba493d3d3922685f7f42ff2b14402d7a546 100644
--- a/include/core/factor/factor_autodiff_distance_3d.h
+++ b/include/core/factor/factor_autodiff_distance_3d.h
@@ -23,7 +23,7 @@ class FactorAutodiffDistance3d : public FactorAutodiff<FactorAutodiffDistance3d,
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status) :
- FactorAutodiff("DISTANCE 3d",
+ FactorAutodiff("FactorAutodiffDistance3d",
_frm_other,
nullptr,
nullptr,
diff --git a/include/core/factor/factor_odom_2d_analytic.h b/include/core/factor/factor_odom_2d_analytic.h
index c7eec32a1778b9f1ad69da6c3c0087e50509a904..52ea04ccd817f2a6c914d771737c284bca4ce664 100644
--- a/include/core/factor/factor_odom_2d_analytic.h
+++ b/include/core/factor/factor_odom_2d_analytic.h
@@ -18,7 +18,7 @@ class FactorOdom2dAnalytic : public FactorRelative2dAnalytic
const ProcessorBasePtr& _processor_ptr,
bool _apply_loss_function,
FactorStatus _status = FAC_ACTIVE) :
- FactorRelative2dAnalytic("ODOM_2d",
+ FactorRelative2dAnalytic("FactorOdom2dAnalytic",
_ftr_ptr,
_frame_ptr,
_processor_ptr,
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 6533bd414d54a9eb45da8c92336ba3d1f0e07739..402615a5e5c4f11d1f306d57119cb7668031c459 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -27,7 +27,7 @@ class FactorQuaternionAbsolute: public FactorAutodiff<FactorQuaternionAbsolute,3
ProcessorBasePtr _processor_ptr = nullptr,
bool _apply_loss_function = false,
FactorStatus _status = FAC_ACTIVE) :
- FactorAutodiff<FactorQuaternionAbsolute,3,4>("QUATERNION ABS",
+ FactorAutodiff<FactorQuaternionAbsolute,3,4>("FactorQuaternionAbsolute",
nullptr,
nullptr,
nullptr,
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index c0f4d310e1062c9a68ea94a0ee0b70f912cd9d15..217bfb8d4232a40af88670fac91a52b161377d32 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -12,7 +12,7 @@ namespace wolf {
unsigned int FrameBase::frame_id_count_ = 0;
FrameBase::FrameBase(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _v_ptr) :
- NodeBase("FRAME", "Base"),
+ NodeBase("FRAME", "FrameBase"),
HasStateBlocks(""),
trajectory_ptr_(),
frame_id_(++frame_id_count_),
@@ -34,7 +34,7 @@ FrameBase::FrameBase(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _
}
FrameBase::FrameBase(const FrameType & _tp, const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _v_ptr) :
- NodeBase("FRAME", "Base"),
+ NodeBase("FRAME", "FrameBase"),
HasStateBlocks(""),
trajectory_ptr_(),
frame_id_(++frame_id_count_),
@@ -56,7 +56,7 @@ FrameBase::FrameBase(const FrameType & _tp, const TimeStamp& _ts, StateBlockPtr
}
FrameBase::FrameBase(const std::string _frame_structure, const SizeEigen _dim, const FrameType & _tp, const TimeStamp& _ts, const Eigen::VectorXd& _x) :
- NodeBase("FRAME", "Base"),
+ NodeBase("FRAME", "FrameBase"),
HasStateBlocks(_frame_structure),
trajectory_ptr_(),
frame_id_(++frame_id_count_),
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index adda7984748ebfb2fa6e40517f0d1bedc331efd2..8995fc7830b1b540c055ee1bc6aa4ca2c01c33ed 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -4,7 +4,7 @@
namespace wolf {
HardwareBase::HardwareBase() :
- NodeBase("HARDWARE", "Base")
+ NodeBase("HARDWARE", "HardwareBase")
{
// std::cout << "constructed H" << std::endl;
}
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 428faf954d89ffc8f0d7a88b182cd04a92850c4a..7620c9fa29132561cb0324d60399da97355f7f67 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -4,7 +4,7 @@
namespace wolf {
TrajectoryBase::TrajectoryBase(const std::string& _frame_structure) :
- NodeBase("TRAJECTORY", "Base"),
+ NodeBase("TRAJECTORY", "TrajectoryBase"),
frame_structure_(_frame_structure),
last_key_frame_ptr_(nullptr),
last_key_or_aux_frame_ptr_(nullptr)
diff --git a/test/gtest_factor_block_difference.cpp b/test/gtest_factor_block_difference.cpp
index 1e06c7a80377b99197a721e85473319f9bf34862..f661fb37fd65f4f99ecd7015d4e8474688521a18 100644
--- a/test/gtest_factor_block_difference.cpp
+++ b/test/gtest_factor_block_difference.cpp
@@ -66,6 +66,15 @@ class FixtureFactorBlockDifference : public testing::Test
virtual void TearDown() override {}
};
+TEST_F(FixtureFactorBlockDifference, CheckFactorType)
+{
+ // Feat_->setMeasurement()
+ FactorBlockDifferencePtr Fac = FactorBase::emplace<FactorBlockDifference>(
+ Feat_, KF0_->getP(), KF1_->getP()
+ );
+ ASSERT_EQ(Fac->getType(), "FactorBlockDifference");
+}
+
TEST_F(FixtureFactorBlockDifference, EqualP)
{