From aa2450797e6494d325360b656b4db6c3c3a190b4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 9 Mar 2018 22:06:16 +0100
Subject: [PATCH] Use a const ref to PrcParamsOdom2D in constructor
---
src/processor_odom_2D.cpp | 24 ++++++++----------------
src/processor_odom_2D.h | 17 +++++++----------
2 files changed, 15 insertions(+), 26 deletions(-)
diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp
index a5cc0a1a3..8cd3b12a0 100644
--- a/src/processor_odom_2D.cpp
+++ b/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
{
diff --git a/src/processor_odom_2D.h b/src/processor_odom_2D.h
index c9b10b140..4434b2a84 100644
--- a/src/processor_odom_2D.h
+++ b/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:
--
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