diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index d16b46bb216871cd87b9ec74916d4560ab4569f8..210f30b882090f39335faa171f3de304453d7106 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -25,41 +25,61 @@ namespace wolf
*
* This factory can create objects of classes deriving from SensorBase.
*
- * Specific object creation is invoked by ````create(TYPE, params ... )````, and the TYPE of sensor is identified with a string.
+ * Specific object creation is invoked by `create(TYPE, params ... )`, and the TYPE of sensor is identified with a string.
* Currently, the following sensor types are implemented,
- * - "SensorCamera" for SensorCamera
* - "SensorOdom2d" for SensorOdom2d
* - "SensorOdom3d" for SensorOdom3d
* - "SensorDiffDrive" for SensorDiffDrive
+ * - "SensorCamera" for SensorCamera // in plugin 'vision'
+ * - "SensorLaser2d" for SensorLaser2d // in plugin 'laser'
+ *
+ * among others
*
* TYPE is always a std::string with literally the same text as the derived class name, e.g.:
- * - SensorCamera -> ````"CAMERA"````
- * - SensorLaser2d -> ````"LASER 2d"````
+ * - SensorCamera -> `"SensorCamera"`
+ * - SensorLaser2d -> `"SensorLaser2d"`
* - etc.
*
* The methods to create specific sensors are called __creators__.
* Creators must be registered to the factory before they can be invoked for sensor creation.
*
+ * Find general Factory documentation in class Factory.
+ *
* This documentation shows you how to:
- * - Access the factory
+ * - Write sensor creators.
* - Register and unregister creators
* - Create sensors
- * - Write a sensor creator for SensorCamera (example).
*
- * #### Accessing the factory
- * The FactorySensor class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
- * To obtain an instance of it, use the static method get(),
+ * #### Write sensor creators
+ * Sensor creators have the following API:
*
* \code
- * FactorySensor::get()
+ * static SensorBasePtr create(const std::string& _name, Eigen::VectorXd& _params_extrinsics, ParamsSensorBasePtr _params_sensor);
* \endcode
*
- * You can then call the methods you like, e.g. to create a sensor, you type:
+ * The follow the general implementation shown below:
*
* \code
- * FactorySensor::get().create(...); // see below for creating sensors ...
+ * static SensorBasePtr create(const std::string& _unique_name, Eigen::VectorXd& _params_extrinsics, ParamsSensorBasePtr _params_sensor)
+ * {
+ * // check extrinsics vector --- example: 3D pose
+ * assert(_params_extrinsics.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3d.");
+ *
+ * // cast sensor parameters to good type --- example: ParamsSensorCamera
+ * auto intrinsics_ptr = std::static_pointer_cast<ParamsSensorCamera>(_params_sensor);
+ *
+ * // Do create the Sensor object --- example: SensorCamera
+ * auto sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
+ *
+ * // Complete the sensor setup with a unique name identifying the sensor
+ * sen_ptr->setName(_unique_name);
+ *
+ * return sen_ptr;
+ * }
* \endcode
*
+ *
+ *
* #### Registering sensor creators
* Prior to invoking the creation of a sensor of a particular type,
* you must register the creator for this type into the factory.
@@ -72,17 +92,7 @@ namespace wolf
* FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* \endcode
*
- * The method SensorCamera::create() exists in the SensorCamera class as a static method.
- * All these ````SensorXxx::create()```` methods need to have exactly the same API, regardless of the sensor type.
- * This API includes a sensor name, a vector of extrinsic parameters,
- * and a pointer to a base struct of intrinsic parameters, ParamsSensorBasePtr,
- * that can be derived for each derived sensor:
- *
- * \code
- * static SensorBasePtr create(const std::string& _name, Eigen::VectorXd& _extrinsics_pq, ParamsSensorBasePtr _intrinsics)
- * \endcode
- *
- * See further down for an implementation example.
+ * The method SensorCamera::create(...) is the creator written in the previous section.
*
* #### Achieving automatic registration
* Currently, registering is performed in each specific SensorXxxx source file, sensor_xxxx.cpp.
@@ -109,7 +119,7 @@ namespace wolf
* To create e.g. a SensorCamera, you type:
*
* \code
- * FactorySensor::get().create("SensorCamera", "Front-left camera", extrinsics, intrinsics_ptr);
+ * FactorySensor::get().create("SensorCamera", "Front-left camera", params_extrinsics, params_camera);
* \endcode
*
* where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
@@ -124,16 +134,16 @@ namespace wolf
* Here is an example of SensorCamera::create() extracted from sensor_camera.cpp:
*
* \code
- * static SensorBasePtr create(const std::string& _name, Eigen::VectorXd& _extrinsics_pq, ParamsSensorBasePtr _intrinsics)
+ * static SensorBasePtr create(const std::string& _unique_name, Eigen::VectorXd& _extrinsics_pq, ParamsSensorBasePtr _intrinsics)
* {
* // check extrinsics vector
* assert(_extrinsics_pq.size() == 7 && "Bad extrinsics vector length. Should be 7 for 3d.");
*
* // cast instrinsics to good type
- * ParamsSensorCameraPtr intrinsics_ptr = std::static_pointer_cast<ParamsSensorCamera>(_intrinsics);
+ * auto intrinsics_ptr = std::static_pointer_cast<ParamsSensorCamera>(_intrinsics);
*
* // Do create the SensorCamera object, and complete its setup
- * SensorCameraPtr sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
+ * auto sen_ptr = std::make_shared<SensorCamera>(_extrinsics_pq, intrinsics_ptr);
*
* sen_ptr->setName(_unique_name);
*
@@ -156,7 +166,7 @@ namespace wolf
* or inside your main(), where a direct call is possible:
* \code
* main () {
- * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* ...
* }
* \endcode
@@ -165,7 +175,7 @@ namespace wolf
* Put the code at the last line of the sensor_xxx.cpp file,
* \code
* namespace {
- * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("SensorCamera", SensorCamera::create);
* }
* \endcode
* Automatic registration is recommended in wolf, and implemented in the classes shipped with it.
@@ -190,36 +200,37 @@ namespace wolf
* // a pointer to the intrinsics struct:
*
* Eigen::VectorXd extrinsics_1(7); // give it some values...
- * ParamsSensorCameraPtr intrinsics_1 = FactoryParamsSensor::get().create("ParamsSensorCamera", camera_1.yaml); // see FactoryParamsSensor to fill in the derived struct
+ *
+ * // Create a pointer to the struct of sensor parameters stored in a YAML file ( see FactoryParamsSensor )
+ * ParamsSensorCameraPtr intrinsics_1 =
+ * FactoryParamsSensor::get().create("ParamsSensorCamera",
+ * camera_1.yaml);
*
* SensorBasePtr camera_1_ptr =
- * FactorySensor::get().create ( "SensorCamera" , "Front-left camera" , extrinsics_1 , intrinsics_1 );
+ * FactorySensor::get().create ( "SensorCamera" ,
+ * "Front-left camera" ,
+ * extrinsics_1 ,
+ * intrinsics_1 );
*
* // A second camera... with a different name!
*
* Eigen::VectorXd extrinsics_2(7);
- * ParamsSensorCameraPtr intrinsics_2 = FactoryParamsSensor::get().create("ParamsSensorCamera", camera_2.yaml);
+ *
+ * ParamsSensorCameraPtr intrinsics_2 =
+ * FactoryParamsSensor::get().create("ParamsSensorCamera",
+ * camera_2.yaml);
*
* SensorBasePtr camera_2_ptr =
- * FactorySensor::get().create( "SensorCamera" , "Front-right camera" , extrinsics_2 , intrinsics_2 );
+ * FactorySensor::get().create( "SensorCamera" ,
+ * "Front-right camera" ,
+ * extrinsics_2 ,
+ * intrinsics_2 );
*
* return 0;
* }
* \endcode
*
*/
-
-// ParamsSensor factory
-struct ParamsSensorBase;
-typedef Factory<ParamsSensorBase,
- const std::string&> FactoryParamsSensor;
-template<>
-inline std::string FactoryParamsSensor::getClass() const
-{
- return "FactoryParamsSensor";
-}
-
-// Sensor factory
typedef Factory<SensorBase,
const std::string&,
const Eigen::VectorXd&,
@@ -231,6 +242,16 @@ inline std::string FactorySensor::getClass() const
return "FactorySensor";
}
+// ParamsSensor factory
+struct ParamsSensorBase;
+typedef Factory<ParamsSensorBase,
+ const std::string&> FactoryParamsSensor;
+template<>
+inline std::string FactoryParamsSensor::getClass() const
+{
+ return "FactoryParamsSensor";
+}
+
#define WOLF_REGISTER_SENSOR(SensorType) \
namespace{ const bool WOLF_UNUSED SensorType##Registered = \
FactorySensor::get().registerCreator(#SensorType, SensorType::create); } \