From aeedba823bc74225a1b7d3ab9d58ecf33b7b3b8c Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Mon, 20 Jun 2022 21:59:24 +0200
Subject: [PATCH] adapting to new yaml server
---
include/core/common/params_base.h | 5 ++++
include/core/processor/factory_processor.h | 25 +++++++++++++------
include/core/processor/processor_base.h | 17 +++++++++++++
include/core/processor/processor_diff_drive.h | 4 +++
.../processor/processor_fixed_wing_model.h | 9 +++++++
.../core/processor/processor_loop_closure.h | 5 ++++
include/core/processor/processor_motion.h | 10 ++++++++
src/landmark/landmark_base.cpp | 2 +-
test/gtest_map_yaml.cpp | 2 +-
test/gtest_yaml_conversions.cpp | 9 ++-----
10 files changed, 71 insertions(+), 17 deletions(-)
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 4760d1cdd..14b8dcb18 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -23,6 +23,7 @@
#define PARAMS_BASE_H_
#include "core/utils/params_server.h"
+#include "yaml-schema-cpp/yaml-schema-cpp.hpp"
namespace wolf {
struct ParamsBase
@@ -32,6 +33,10 @@ namespace wolf {
{
//
}
+ ParamsBase(const YAML::Node& _n)
+ {
+ //
+ }
virtual ~ParamsBase() = default;
virtual std::string print() const = 0;
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index 5abc327f4..c4918dea5 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -152,6 +152,14 @@ inline std::string FactoryProcessorYaml::getClass() const
return "FactoryProcessorYaml";
}
+typedef Factory<ProcessorBase,
+ const YAML::Node&> FactoryProcessorYamlNode;
+template<>
+inline std::string FactoryProcessorYamlNode::getClass() const
+{
+ return "FactoryProcessorYamlNode";
+}
+
// ParamsProcessor factory
struct ParamsProcessorBase;
typedef Factory<ParamsProcessorBase,
@@ -162,14 +170,15 @@ inline std::string FactoryParamsProcessor::getClass() const
return "FactoryParamsProcessor";
}
-#define WOLF_REGISTER_PROCESSOR(ProcessorType) \
- namespace{ const bool WOLF_UNUSED ProcessorType##ServerRegistered = \
- wolf::FactoryProcessorServer::registerCreator(#ProcessorType, ProcessorType::create); } \
- namespace{ const bool WOLF_UNUSED ProcessorType##Registered = \
- wolf::FactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
- namespace{ const bool WOLF_UNUSED ProcessorType##YamlRegistered = \
- wolf::FactoryProcessorYaml::registerCreator(#ProcessorType, ProcessorType::create); } \
-
+#define WOLF_REGISTER_PROCESSOR(ProcessorType) \
+ namespace{ const bool WOLF_UNUSED ProcessorType##ServerRegistered = \
+ wolf::FactoryProcessorServer::registerCreator(#ProcessorType, ProcessorType::create); } \
+ namespace{ const bool WOLF_UNUSED ProcessorType##Registered = \
+ wolf::FactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
+ namespace{ const bool WOLF_UNUSED ProcessorType##YamlRegistered = \
+ wolf::FactoryProcessorYaml::registerCreator(#ProcessorType, ProcessorType::create); } \
+ namespace{ const bool WOLF_UNUSED ProcessorType##YamlNodeRegistered = \
+ wolf::FactoryProcessorYamlNode::registerCreator(#ProcessorType, ProcessorType::create); } \
} /* namespace wolf */
#endif /* PROCESSOR_FACTORY_H_ */
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 931ab1bac..3e529411d 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -92,6 +92,16 @@ static ProcessorBasePtr create(const std::string& _unique_name,
\
return processor; \
} \
+static ProcessorBasePtr create(const YAML::Node& _input_node) \
+{ \
+ auto params = std::make_shared<ParamsProcessorClass>(_input_node); \
+ \
+ auto processor = std::make_shared<ProcessorClass>(params); \
+ \
+ processor ->setName(_unique_name); \
+ \
+ return processor; \
+} \
/** \brief Buffer for arbitrary type objects
@@ -223,6 +233,13 @@ struct ParamsProcessorBase : public ParamsBase
voting_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_active");
apply_loss_function = _server.getParam<bool>(prefix + _unique_name + "/apply_loss_function");
}
+ ParamsProcessorBase(const YAML::Node& _n):
+ ParamsBase(_n)
+ {
+ time_tolerance = _n["time_tolerance"].as<double>();
+ voting_active = _n["keyframe_vote"]["voting_active"].as<bool>();
+ apply_loss_function = _n["apply_loss_function"].as<bool>();
+ }
~ParamsProcessorBase() override = default;
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 20ed23303..5e9b1012c 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -43,6 +43,10 @@ struct ParamsProcessorDiffDrive : public ParamsProcessorOdom2d
ParamsProcessorOdom2d(_unique_name, _server)
{
}
+ ParamsProcessorDiffDrive(const YAML::Node& _n) :
+ ParamsProcessorOdom2d(_n)
+ {
+ }
std::string print() const override
{
return ParamsProcessorOdom2d::print();
diff --git a/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index b882750a5..607f2cf9d 100644
--- a/include/core/processor/processor_fixed_wing_model.h
+++ b/include/core/processor/processor_fixed_wing_model.h
@@ -52,6 +52,15 @@ struct ParamsProcessorFixedWingModel : public ParamsProcessorBase
assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixedWingModel: 'velocity_local' must be normalized");
}
+ ParamsProcessorFixedWingModel(const YAML::Node & _n) :
+ ParamsProcessorBase(_n)
+ {
+ velocity_local = _n["velocity_local"].as<Eigen::Vector3d>();
+ angle_stdev = _n["angle_stdev"].as<double>();
+ min_vel_norm = _n["min_vel_norm"].as<double>();
+
+ assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixedWingModel: 'velocity_local' must be normalized");
+ }
std::string print() const override
{
return ParamsProcessorBase::print() + "\n"
diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index cf602f451..78e480fdd 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -39,6 +39,11 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
{
max_loops = _server.getParam<int>(prefix + _unique_name + "/max_loops");
}
+ ParamsProcessorLoopClosure(const YAML::Node& _n):
+ ParamsProcessorBase(_n)
+ {
+ max_loops = _n["max_loops"].as<int>();
+ }
std::string print() const override
{
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 3e34bf694..be64fda51 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -63,6 +63,16 @@ struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsMotionPr
angle_turned = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/angle_turned");
unmeasured_perturbation_std = _server.getParam<double>(prefix + _unique_name + "/unmeasured_perturbation_std");
}
+ ParamsProcessorMotion(const YAML::Node& _n):
+ ParamsProcessorBase(_n),
+ ParamsMotionProvider(_n)
+ {
+ max_time_span = _n["keyframe_vote"]["max_time_span"].as<double>();
+ max_buff_length = _n["keyframe_vote"]["max_buff_length"].as<unsigned int>();
+ dist_traveled = _n["keyframe_vote"]["dist_traveled"].as<double>();
+ angle_turned = _n["keyframe_vote"]["angle_turned"].as<double>();
+ unmeasured_perturbation_std = _n["unmeasured_perturbation_std"].as<double>();
+ }
std::string print() const override
{
return ParamsProcessorBase::print() + "\n" +
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index e7acd4f0d..921fe7896 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -27,7 +27,7 @@
#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"
+// #include "core/yaml/yaml_conversion.h"
namespace wolf {
diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp
index 5c4b2b789..5f12596a9 100644
--- a/test/gtest_map_yaml.cpp
+++ b/test/gtest_map_yaml.cpp
@@ -34,7 +34,7 @@
#include "core/state_block/state_block.h"
#include "core/state_block/state_quaternion.h"
#include "core/state_block/local_parametrization_quaternion.h"
-#include "core/yaml/yaml_conversion.h"
+// #include "core/yaml/yaml_conversion.h"
#include <iostream>
using namespace wolf;
diff --git a/test/gtest_yaml_conversions.cpp b/test/gtest_yaml_conversions.cpp
index 21a4f8978..389aa92d8 100644
--- a/test/gtest_yaml_conversions.cpp
+++ b/test/gtest_yaml_conversions.cpp
@@ -19,16 +19,11 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file test_yaml_conversions.cpp
- *
- * Created on: May 15, 2016
- * \author: jsola
- */
#include "core/common/wolf.h"
#include "core/utils/utils_gtest.h"
-#include "core/yaml/yaml_conversion.h"
+// #include "core/yaml/yaml_conversion.h"
+#include <yaml-schema-cpp/yaml_conversion.h>
#include <yaml-cpp/yaml.h>
#include <eigen3/Eigen/Dense>
#include <iostream>
--
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