Use a const ref to PrcParamsOdom2D in constructor

src/processor_odom_2D.cpp

@@ -2,18 +2,14 @@
 namespace wolf
 {
 
-ProcessorOdom2D::ProcessorOdom2D(const Scalar& _dist_traveled_th,
-                                 const Scalar& _theta_traveled_th,
-                                 const Scalar& _cov_det_th,
-                                 const Scalar& _elapsed_time_th,
-                                 const Scalar& _unmeasured_perturbation_std) :
-        ProcessorMotion("ODOM 2D", 3, 3, 3, 2),
-        dist_traveled_th_(_dist_traveled_th),
-        theta_traveled_th_(_theta_traveled_th),
-        cov_det_th_(_cov_det_th),
-        elapsed_time_th_(_elapsed_time_th)
+ProcessorOdom2D::ProcessorOdom2D(const ProcessorParamsOdom2D& _params) :
+            ProcessorMotion("ODOM 2D", 3, 3, 3, 2),
+            dist_traveled_th_(_params.dist_traveled_th_),
+            theta_traveled_th_(_params.theta_traveled_th_),
+            cov_det_th_(_params.cov_det_th_),
+            elapsed_time_th_(_params.elapsed_time_th_)
 {
-    unmeasured_perturbation_cov_ = _unmeasured_perturbation_std * _unmeasured_perturbation_std * Matrix3s::Identity();
+    unmeasured_perturbation_cov_ = _params.unmeasured_perturbation_std_ * _params.unmeasured_perturbation_std_ * Matrix3s::Identity();
 }
 
 ProcessorOdom2D::~ProcessorOdom2D()
@@ -180,11 +176,7 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
     {
         std::shared_ptr<ProcessorParamsOdom2D> params = std::static_pointer_cast<ProcessorParamsOdom2D>(_params);
 
-        prc_ptr = std::make_shared<ProcessorOdom2D>(params->dist_traveled_th_,
-                                                    params->theta_traveled_th_,
-                                                    params->cov_det_th_,
-                                                    params->elapsed_time_th_,
-                                                    params->unmeasured_perturbation_std_);
+        prc_ptr = std::make_shared<ProcessorOdom2D>(*params);
     }
     else
     {

src/processor_odom_2D.h

@@ -21,22 +21,19 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom2D);
 
 struct ProcessorParamsOdom2D : public ProcessorParamsBase
 {
-    Scalar dist_traveled_th_            = 1.0;
-    Scalar theta_traveled_th_           = 0.17;
-    Scalar cov_det_th_                  = 1.0;
-    Scalar elapsed_time_th_             = 1.0;
-    Scalar unmeasured_perturbation_std_ = 0.001;
+    Scalar dist_traveled_th_            = 1.0;      // 1m
+    Scalar theta_traveled_th_           = 0.17;     // 90 degrees
+    Scalar cov_det_th_                  = 1.0;      // 1 rad^2
+    Scalar elapsed_time_th_             = 1.0;      // 1s
+    Scalar unmeasured_perturbation_std_ = 0.001;    // no particular dimension: the same for displacement and angle
 };
 
 class ProcessorOdom2D : public ProcessorMotion
 {
     public:
-        ProcessorOdom2D(const Scalar& _traveled_dist_th             = 1.0,
-                        const Scalar& _theta_traveled_th            = 0.17,
-                        const Scalar& _cov_det_th                   = 1.0,
-                        const Scalar& _elapsed_time_th              = 1.0,
-                        const Scalar& _unmeasured_perturbation_std  = 0.001);
+        ProcessorOdom2D(const ProcessorParamsOdom2D& _params = ProcessorParamsOdom2D());
         virtual ~ProcessorOdom2D();
+
         virtual bool voteForKeyFrame() override;
 
     protected: