From af61bf4019b829b2591aa3c7d985b80575864fdd Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 9 Apr 2020 15:03:52 +0200
Subject: [PATCH] added register and create macros and gtest_processor_base
fixed
---
.../dummy/processor_tracker_feature_dummy.cpp | 20 +++----------------
test/dummy/processor_tracker_feature_dummy.h | 10 ++++------
.../processor_tracker_landmark_dummy.cpp | 10 +++++++++-
test/dummy/processor_tracker_landmark_dummy.h | 4 ++++
test/gtest_processor_base.cpp | 14 ++++---------
5 files changed, 24 insertions(+), 34 deletions(-)
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 3a30e98af..dfa057a0c 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -58,6 +58,7 @@ unsigned int ProcessorTrackerFeatureDummy::detectNewFeatures(const int& _max_new
FeatureBasePtrList& _features_out)
{
unsigned int max_features = _max_new_features;
+ WOLF_INFO("Detecting " , _max_new_features , " new features..." );
if (max_features == -1)
{
@@ -70,7 +71,7 @@ unsigned int ProcessorTrackerFeatureDummy::detectNewFeatures(const int& _max_new
for (unsigned int i = 0; i < max_features; i++)
{
FeatureBasePtr ftr = FeatureBase::emplace<FeatureBase>(_capture,
- "DUMMY FEATURE",
+ "FeatureDummy",
Eigen::Vector1d::Ones(),
Eigen::MatrixXd::Ones(1, 1));
_features_out.push_back(ftr);
@@ -92,26 +93,11 @@ FactorBasePtr ProcessorTrackerFeatureDummy::emplaceFactor(FeatureBasePtr _featur
return FactorBase::emplace<FactorFeatureDummy>(_feature_ptr, _feature_ptr, _feature_other_ptr, shared_from_this());
}
-ProcessorBasePtr ProcessorTrackerFeatureDummy::create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params)
-{
- auto params = std::static_pointer_cast<ProcessorParamsTrackerFeatureDummy>(_params);
-
- // if cast failed use default value
- if (params == nullptr)
- params = std::make_shared<ProcessorParamsTrackerFeatureDummy>();
-
- auto prc_ptr = std::make_shared<ProcessorTrackerFeatureDummy>(params);
-
- prc_ptr->setName(_unique_name);
-
- return prc_ptr;
-}
-
} // namespace wolf
// Register in the ProcessorFactory
#include "core/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy)
+WOLF_REGISTER_PROCESSOR_AUTO("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy)
} // namespace wolf
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 3328edf08..0dd47af31 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -39,6 +39,10 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
public:
ProcessorTrackerFeatureDummy(ProcessorParamsTrackerFeatureDummyPtr _params_tracker_feature);
virtual ~ProcessorTrackerFeatureDummy();
+
+ // Factory method for high level API
+ WOLF_PROCESSOR_CREATE(ProcessorTrackerFeatureDummy, ProcessorParamsTrackerFeatureDummy);
+
virtual void configure(SensorBasePtr _sensor) { };
protected:
@@ -101,12 +105,6 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
* This function emplaces a factor of the appropriate type for the derived processor.
*/
virtual FactorBasePtr emplaceFactor(FeatureBasePtr _feature_ptr, FeatureBasePtr _feature_other_ptr);
-
- public:
-
- static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
-
};
inline ProcessorTrackerFeatureDummy::ProcessorTrackerFeatureDummy(ProcessorParamsTrackerFeatureDummyPtr _params_tracker_feature_dummy) :
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index 72fc32f9b..9195eb559 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -112,4 +112,12 @@ FactorBasePtr ProcessorTrackerLandmarkDummy::emplaceFactor(FeatureBasePtr _featu
return FactorBase::emplace<FactorLandmarkDummy>(_feature_ptr, _feature_ptr, _landmark_ptr, shared_from_this());
}
-} //namespace wolf
+} // namespace wolf
+
+// Register in the ProcessorFactory
+#include "core/processor/processor_factory.h"
+namespace wolf {
+WOLF_REGISTER_PROCESSOR("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)
+WOLF_REGISTER_PROCESSOR_AUTO("ProcessorTrackerLandmarkDummy", ProcessorTrackerLandmarkDummy)
+} // namespace wolf
+
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index a9531c8db..63beb8dac 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -34,6 +34,10 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
public:
ProcessorTrackerLandmarkDummy(ProcessorParamsTrackerLandmarkDummyPtr _params_tracker_landmark_dummy);
virtual ~ProcessorTrackerLandmarkDummy();
+
+ // Factory method for high level API
+ WOLF_PROCESSOR_CREATE(ProcessorTrackerLandmarkDummy, ProcessorParamsTrackerLandmarkDummy);
+
virtual void configure(SensorBasePtr _sensor) { };
protected:
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index c4a1c4b04..5fbf82d79 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -23,14 +23,6 @@
using namespace wolf;
using namespace Eigen;
-
-// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
-namespace wolf {
-WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
-} // namespace wolf
-
-
TEST(ProcessorBase, IsMotion)
{
using namespace wolf;
@@ -84,11 +76,13 @@ TEST(ProcessorBase, KeyFrameCallback)
// Install tracker (sensor and processor)
auto sens_trk = SensorBase::emplace<SensorBase>(problem->getHardware(),
- "SensorOdom2d",
+ "SensorTrackerDummy",
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 = problem->installProcessor("ProcessorTrackerFeatureDummy", "dummy", sens_trk);
+ auto proc_trk_params = make_shared<ProcessorParamsTrackerFeatureDummy>();
+ proc_trk_params->time_tolerance = dt/2;
+ auto proc_trk = problem->installProcessor("ProcessorTrackerFeatureDummy", "dummy", sens_trk, proc_trk_params);
// Install odometer (sensor and processor)
SensorBasePtr sens_odo = problem->installSensor("SensorOdom2d", "odometer", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
--
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