Skip to content
Snippets Groups Projects
Commit add7cf1d authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
Browse files

Merge branch 'devel' into feature/plugins

parents f672d7b3 ccb21690
No related branches found
No related tags found
1 merge request!260WIP: params autoconf
This commit is part of merge request !260. Comments created here will be created in the context of that merge request.
......@@ -98,7 +98,7 @@ ENDIF()
option(_WOLF_TRACE "Enable wolf tracing macro" ON)
option(BUILD_EXAMPLES "Build examples" OFF)
# option(BUILD_EXAMPLES "Build examples" OFF)
set(BUILD_TESTS true)
# Does this has any other interest
......@@ -761,6 +761,13 @@ IF (GLOG_FOUND)
ENDIF(BUILD_TESTS)
ENDIF (GLOG_FOUND)
IF(BUILD_EXAMPLES)
#Build examples
MESSAGE("Building examples.")
ADD_SUBDIRECTORY(src/examples)
ENDIF(BUILD_EXAMPLES)
#install library
#=============================================================
......
......@@ -27,11 +27,15 @@ WOLF_PTR_TYPEDEFS(ConstraintGPSPseudorange2D);
class ConstraintGPSPseudorange2D : public ConstraintAutodiff<ConstraintGPSPseudorange2D, 1, 2, 1, 3, 1, 3, 1>
{
public:
ConstraintGPSPseudorange2D(const FeatureBasePtr& _ftr_ptr,
ConstraintGPSPseudorange2D(const FeatureBasePtr& _ftr_ptr, const ProcessorBasePtr& _pr_ptr,
bool _apply_loss_function = false,
ConstraintStatus _status = CTR_ACTIVE) :
ConstraintAutodiff<ConstraintGPSPseudorange2D, 1, 2, 1, 3, 1, 3, 1>("GPS PR 2D",
nullptr,
nullptr,
nullptr,
nullptr,
_pr_ptr,
_apply_loss_function,
_status,
_ftr_ptr->getFramePtr()->getPPtr(), // position of the vehicle's frame with respect to the initial pos frame
......
......@@ -26,11 +26,11 @@ class ConstraintGPSPseudorange3D: public ConstraintAutodiff<ConstraintGPSPseudor
public:
ConstraintGPSPseudorange3D(FeatureBasePtr _ftr_ptr,
ConstraintGPSPseudorange3D(FeatureBasePtr _ftr_ptr, const ProcessorBasePtr& _pr_ptr,
bool _apply_loss_function = false,
ConstraintStatus _status = CTR_ACTIVE) :
ConstraintAutodiff<ConstraintGPSPseudorange3D, 1, 3, 4, 3, 1, 3, 4>("GPS PR 3D",
nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status,
nullptr, nullptr, nullptr, nullptr, _pr_ptr, _apply_loss_function, _status,
_ftr_ptr->getFramePtr()->getPPtr(), // position of the vehicle's frame with respect to map frame
_ftr_ptr->getFramePtr()->getOPtr(), // orientation of the vehicle's frame wrt map frame
_ftr_ptr->getCapturePtr()->getSensorPPtr(), // position of the sensor (gps antenna) with respect to base frame
......
......@@ -10,7 +10,7 @@
#include "base/problem.h"
#include "base/sensor/sensor_diff_drive.h"
#include "base/capture/capture_wheel_joint_position.h"
#include "processor/processor_diff_drive.h"
#include "base/processor/processor_diff_drive.h"
//std
#include <iostream>
......
......@@ -44,7 +44,7 @@ void ProcessorGPS::process(CaptureBasePtr _capture_ptr)
for (auto i_it = capture_gps_ptr_->getFeatureList().begin();
i_it != capture_gps_ptr_->getFeatureList().end(); i_it++)
{
capture_gps_ptr_->getFeatureList().front()->addConstraint(std::make_shared<ConstraintGPSPseudorange2D>((*i_it)));
capture_gps_ptr_->getFeatureList().front()->addConstraint(std::make_shared<ConstraintGPSPseudorange2D>((*i_it), shared_from_this()));
}
//std::cout << "Constraints established" << std::endl;
}
......@@ -69,7 +69,7 @@ ProcessorBasePtr ProcessorGPS::create(const std::string& _unique_name, const Pro
} // namespace wolf
// Register in the SensorFactory
#include "processor_factory.h"
#include "base/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("GPS",ProcessorGPS)
} // namespace wolf
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment