Arrange factories

include/core/common/factory.h

@@ -314,26 +314,6 @@ namespace wolf
 // Some specializations
 //======================
 
-// Intrinsics
-struct IntrinsicsBase;
-typedef Factory<IntrinsicsBase,
-        const std::string&> IntrinsicsFactory;
-template<>
-inline std::string IntrinsicsFactory::getClass()
-{
-    return "IntrinsicsFactory";
-}
-
-// ProcessorParams
-struct ProcessorParamsBase;
-typedef Factory<ProcessorParamsBase,
-        const std::string&> ProcessorParamsFactory;
-template<>
-inline std::string ProcessorParamsFactory::getClass()
-{
-    return "ProcessorParamsFactory";
-}
-
 // Landmarks from YAML
 class LandmarkBase;
 typedef Factory<LandmarkBase,
@@ -344,20 +324,6 @@ inline std::string LandmarkFactory::getClass()
     return "LandmarkFactory";
 }
 
-// Frames
-class TimeStamp;
-} // namespace wolf
-#include "core/frame/frame_base.h"
-namespace wolf{
-typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory;
-template<>
-inline std::string FrameFactory::getClass()
-{
-    return "FrameFactory";
-}
-
-//#define UNUSED(x) (void)x;
-//#define UNUSED(x) (void)(sizeof((x), 0));
 
 #ifdef __GNUC__
     #define WOLF_UNUSED __attribute__((used))
@@ -372,10 +338,6 @@ inline std::string FrameFactory::getClass()
 # define UNUSED(x) x
 #endif
 
-#define WOLF_REGISTER_FRAME(FrameType, FrameName) \
-  namespace{ const bool WOLF_UNUSED FrameName##Registered = \
-    wolf::FrameFactory::get().registerCreator(FrameType, FrameName::create); }\
-
 } /* namespace wolf */
 
 #endif /* FACTORY_H_ */

include/core/processor/processor_factory.h

@@ -165,6 +165,17 @@ namespace wolf
  * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
  */
 
+// ProcessorParams factory
+struct ProcessorParamsBase;
+typedef Factory<ProcessorParamsBase,
+        const std::string&> ProcessorParamsFactory;
+template<>
+inline std::string ProcessorParamsFactory::getClass()
+{
+    return "ProcessorParamsFactory";
+}
+
+// Processor factory
 typedef Factory<ProcessorBase,
         const std::string&,
         const ProcessorParamsBasePtr> ProcessorFactory;

include/core/sensor/sensor_factory.h

@@ -16,6 +16,7 @@ struct IntrinsicsBase;
 
 // wolf
 #include "core/common/factory.h"
+#include "core/utils/params_server.hpp"
 
 namespace wolf
 {
@@ -208,6 +209,17 @@ namespace wolf
  * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
  */
 
+// Intrinsics factory
+struct IntrinsicsBase;
+typedef Factory<IntrinsicsBase,
+        const std::string&> IntrinsicsFactory;
+template<>
+inline std::string IntrinsicsFactory::getClass()
+{
+    return "IntrinsicsFactory";
+}
+
+// Sensor factory
 typedef Factory<SensorBase,
                 const std::string&,
                 const Eigen::VectorXs&, const IntrinsicsBasePtr> SensorFactory;

src/landmark/landmark_base.cpp

@@ -3,6 +3,7 @@
 #include "core/factor/factor_base.h"
 #include "core/map/map_base.h"
 #include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
 #include "core/state_block/state_quaternion.h"
 #include "core/common/factory.h"
 #include "core/yaml/yaml_conversion.h"
@@ -217,7 +218,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
         if (ori.size() == 4)
             ori_sb = std::make_shared<StateQuaternion>(ori, ori_fixed);
         else
-            ori_sb = std::make_shared<StateBlock>(ori, ori_fixed);
+            ori_sb = std::make_shared<StateAngle>(ori(0), ori_fixed);
     }
 
     LandmarkBasePtr lmk = std::make_shared<LandmarkBase>("BASE", pos_sb, ori_sb);
@@ -229,7 +230,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node)
 // Register landmark creator
 namespace
 {
-const bool WOLF_UNUSED registered_lmk_ahp = LandmarkFactory::get().registerCreator("BASE", LandmarkBase::create);
+const bool WOLF_UNUSED registered_lmk_base = LandmarkFactory::get().registerCreator("BASE", LandmarkBase::create);
 }
 
 } // namespace wolf