Readapt some changes after merging devel

src/processor/processor_diff_drive.cpp

@@ -173,7 +173,7 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
 } /* namespace wolf */
 
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorDiffDrive", ProcessorDiffDrive);

src/processor/processor_odom_2d.cpp

@@ -170,7 +170,7 @@ FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
 
 } /* namespace wolf */
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorOdom2d", ProcessorOdom2d);

src/processor/processor_odom_3d.cpp

@@ -246,7 +246,7 @@ FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, Cap
 
 }
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorOdom3d", ProcessorOdom3d);

src/sensor/sensor_diff_drive.cpp

@@ -47,7 +47,7 @@ SensorDiffDrive::~SensorDiffDrive()
 
 } /* namespace wolf */
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorDiffDrive", SensorDiffDrive);

src/sensor/sensor_odom_2d.cpp

@@ -36,7 +36,7 @@ double SensorOdom2d::getRotVarToRotNoiseFactor() const
 
 }
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorOdom2d", SensorOdom2d);

src/sensor/sensor_odom_3d.cpp

@@ -39,7 +39,7 @@ SensorOdom3d::~SensorOdom3d()
 
 } // namespace wolf
 
-// Register in the SensorFactory
+// Register in the FactorySensor
 #include "core/sensor/factory_sensor.h"
 namespace wolf {
 WOLF_REGISTER_SENSOR("SensorOdom3d", SensorOdom3d);

test/dummy/processor_tracker_feature_dummy.cpp

@@ -95,7 +95,7 @@ FactorBasePtr ProcessorTrackerFeatureDummy::emplaceFactor(FeatureBasePtr _featur
 
 } // namespace wolf
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy)

test/dummy/processor_tracker_feature_dummy.h

@@ -41,7 +41,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
         virtual ~ProcessorTrackerFeatureDummy();
 
         // Factory method for high level API
-        WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ProcessorParamsTrackerFeatureDummy);
+        WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ParamsProcessorTrackerFeatureDummy);
 
         virtual void configure(SensorBasePtr _sensor) { };
 

test/dummy/processor_tracker_landmark_dummy.cpp

@@ -114,8 +114,8 @@ FactorBasePtr ProcessorTrackerLandmarkDummy::emplaceFactor(FeatureBasePtr _featu
 
 } // namespace wolf
 
-// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+// Register in the FactoryProcessor
+#include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)
 WOLF_REGISTER_PROCESSOR_AUTO("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)

test/dummy/processor_tracker_landmark_dummy.h

@@ -36,7 +36,7 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
         virtual ~ProcessorTrackerLandmarkDummy();
 
         // Factory method for high level API
-        WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ProcessorParamsTrackerLandmarkDummy);
+        WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ParamsProcessorTrackerLandmarkDummy);
 
         virtual void configure(SensorBasePtr _sensor) { };
 

test/gtest_factor_relative_pose_2d_with_extrinsics.cpp

@@ -24,7 +24,7 @@ CeresManager ceres_mgr(problem_ptr);
 
 // Sensor
 auto sensor_odom2d = problem_ptr->installSensor("SensorOdom2d", "odom", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
-auto processor_odom2d = problem_ptr->installProcessor("ProcessorOdom2d", "odom", sensor_odom2d, std::make_shared<ProcessorParamsOdom2d>());
+auto processor_odom2d = problem_ptr->installProcessor("ProcessorOdom2d", "odom", sensor_odom2d, std::make_shared<ParamsProcessorOdom2d>());
 
 // Two frames
 FrameBasePtr frm0 = problem_ptr->emplaceFrame(KEY, Vector3d::Zero(), TimeStamp(0));

test/gtest_problem.cpp

@@ -31,7 +31,7 @@ using namespace wolf;
 using namespace Eigen;
 
 
-// Register in the ProcessorFactory
+// Register in the FactoryProcessor
 #include "core/processor/factory_processor.h"
 namespace wolf {
 WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)

test/gtest_processor_base.cpp

@@ -80,7 +80,7 @@ TEST(ProcessorBase, KeyFrameCallback)
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)),
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(1)),
                                                     std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)), 2);
-    auto proc_trk_params = make_shared<ProcessorParamsTrackerFeatureDummy>();
+    auto proc_trk_params = make_shared<ParamsProcessorTrackerFeatureDummy>();
     proc_trk_params->time_tolerance = dt/2;
     auto proc_trk = problem->installProcessor("ProcessorTrackerFeatureDummy",  "dummy", sens_trk, proc_trk_params);