diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h index 59b5123c4971be28214e50021fe1fff0dc21d537..3902dd0f05827eb30ac8b06e909a9b5272933ff0 100644 --- a/include/core/common/node_base.h +++ b/include/core/common/node_base.h @@ -13,7 +13,7 @@ namespace wolf { * - A unique ID. The class implements the ID factory. * * - A unique category name, strictly within this range of possibilities: - * - "BASE" -- should not be used + * - "NodeBase" -- should not be used * - "PROBLEM" * - "HARDWARE" * - "SENSOR" diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h index 274c226ed779ced623f5ae8c0eb76c0e5bc4d291..687a24728a081025a0f80f9780cb0df925109dd6 100644 --- a/include/core/factor/factor_diff_drive.h +++ b/include/core/factor/factor_diff_drive.h @@ -53,7 +53,7 @@ class FactorDiffDrive : public FactorAutodiff<FactorDiffDrive, const ProcessorBasePtr& _processor_ptr = nullptr, const bool _apply_loss_function = false, const FactorStatus _status = FAC_ACTIVE) : - Base("DIFF DRIVE", + Base("FactorDiffDrive", _capture_origin_ptr->getFrame(), _capture_origin_ptr, nullptr, diff --git a/include/core/factor/factor_odom_2D.h b/include/core/factor/factor_odom_2D.h index e5cfd57a69329ca9c82c9019f29d4ee591b27f77..ff322cf51790789313a289a3e49f5379fac6add0 100644 --- a/include/core/factor/factor_odom_2D.h +++ b/include/core/factor/factor_odom_2D.h @@ -19,7 +19,7 @@ class FactorOdom2D : public FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1> const FrameBasePtr& _frame_other_ptr, const ProcessorBasePtr& _processor_ptr = nullptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) : - FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>("ODOM 2D", + FactorAutodiff<FactorOdom2D, 3, 2, 1, 2, 1>("FactorOdom2D", _frame_other_ptr, nullptr, nullptr, nullptr, _processor_ptr, _apply_loss_function, _status, diff --git a/include/core/factor/factor_odom_3D.h b/include/core/factor/factor_odom_3D.h index 587472541124f2d0d158b3d999c9b65bb1bc5dcb..25d751ca849a6b1ec7650bd01646846570a04680 100644 --- a/include/core/factor/factor_odom_3D.h +++ b/include/core/factor/factor_odom_3D.h @@ -75,7 +75,7 @@ inline FactorOdom3D::FactorOdom3D(const FeatureBasePtr& _ftr_current_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function, FactorStatus _status) : - FactorAutodiff<FactorOdom3D, 6, 3, 4, 3, 4>("ODOM 3D", // type + FactorAutodiff<FactorOdom3D, 6, 3, 4, 3, 4>("FactorOdom3D", // type _frame_past_ptr, // frame other nullptr, // capture other nullptr, // feature other diff --git a/include/core/factor/factor_pose_2D.h b/include/core/factor/factor_pose_2D.h index e4caa3b2dbd2ed26ef8b23a83443b0662b1ec823..520e771471fcc2c7e8f309e8f539530ad6c30d77 100644 --- a/include/core/factor/factor_pose_2D.h +++ b/include/core/factor/factor_pose_2D.h @@ -18,7 +18,7 @@ class FactorPose2D: public FactorAutodiff<FactorPose2D,3,2,1> { public: FactorPose2D(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) : - FactorAutodiff<FactorPose2D, 3, 2, 1>("POSE 2D", nullptr, nullptr, nullptr, nullptr, nullptr,_apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO()) + FactorAutodiff<FactorPose2D, 3, 2, 1>("FactorPose2D", nullptr, nullptr, nullptr, nullptr, nullptr,_apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO()) { // std::cout << "created FactorPose2D " << std::endl; } diff --git a/include/core/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h index d36bcdb32a832695b29bbbe5a0610ded37746218..9f28b946136f75875a630388bb4674ebbf485651 100644 --- a/include/core/factor/factor_pose_3D.h +++ b/include/core/factor/factor_pose_3D.h @@ -17,7 +17,7 @@ class FactorPose3D: public FactorAutodiff<FactorPose3D,6,3,4> public: FactorPose3D(FeatureBasePtr _ftr_ptr, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) : - FactorAutodiff<FactorPose3D,6,3,4>("POSE 3D", nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO()) + FactorAutodiff<FactorPose3D,6,3,4>("FactorPose3D", nullptr, nullptr, nullptr, nullptr, nullptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO()) { // } diff --git a/include/core/processor/processor_factory.h b/include/core/processor/processor_factory.h index 1f1d8606c449f9b57625bac9c12f8f9207322d0b..24f074902f56999949d83e9b7b8a412c14e3aa41 100644 --- a/include/core/processor/processor_factory.h +++ b/include/core/processor/processor_factory.h @@ -69,7 +69,7 @@ namespace wolf * that knows how to create your specific processor, e.g.: * * \code - * ProcessorFactory::get().registerCreator("ODOM 2D", ProcessorOdom2D::create); + * ProcessorFactory::get().registerCreator("ProcessorOdom2D", ProcessorOdom2D::create); * \endcode * * The method ProcessorOdom2D::create() exists in the ProcessorOdom2D class as a static method. @@ -96,7 +96,7 @@ namespace wolf * For example, in processor_odom_2D.cpp we find the line: * * \code - * const bool registered_odom_2D = ProcessorFactory::get().registerCreator("ODOM 2D", ProcessorOdom2D::create); + * const bool registered_odom_2D = ProcessorFactory::get().registerCreator("ProcessorOdom2D", ProcessorOdom2D::create); * \endcode * * which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2D class). @@ -107,7 +107,7 @@ namespace wolf * It only needs to be passed the string of the processor type. * * \code - * ProcessorFactory::get().unregisterCreator("ODOM 2D"); + * ProcessorFactory::get().unregisterCreator("ProcessorOdom2D"); * \endcode * * #### Creating processors @@ -117,7 +117,7 @@ namespace wolf * To create a ProcessorOdom2D, you type: * * \code - * ProcessorFactory::get().create("ODOM 2D", "main odometry", params_ptr); + * ProcessorFactory::get().create("ProcessorOdom2D", "main odometry", params_ptr); * \endcode * * #### Example 1 : using the Factories alone @@ -132,14 +132,14 @@ namespace wolf * // Note: ProcessorOdom2D::create() is already registered, automatically. * * // First create the sensor (See SensorFactory for details) - * SensorBasePtr sensor_ptr = SensorFactory::get().create ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics ); + * SensorBasePtr sensor_ptr = SensorFactory::get().create ( "FactorOdom2D" , "Main odometer" , extrinsics , &intrinsics ); * * // To create a odometry integrator, provide a type="ODOM 2D", a name="main odometry", and a pointer to the parameters struct: * * ProcessorParamsOdom2D params({...}); // fill in the derived struct (note: ProcessorOdom2D actually has no input params) * * ProcessorBasePtr processor_ptr = - * ProcessorFactory::get().create ( "ODOM 2D" , "main odometry" , ¶ms ); + * ProcessorFactory::get().create ( "ProcessorOdom2D" , "main odometry" , ¶ms ); * * // Bind processor to sensor * sensor_ptr->addProcessor(processor_ptr); @@ -158,8 +158,8 @@ namespace wolf * #include "core/problem/problem.h" * * Problem problem(FRM_PO_2D); - * problem.installSensor ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics ); - * problem.installProcessor ( "ODOM 2D" , "Odometry" , "Main odometer" , ¶ms ); + * problem.installSensor ( "SensorOdom2D" , "Main odometer" , extrinsics , &intrinsics ); + * problem.installProcessor ( "ProcessorOdom2D" , "Odometry" , "Main odometer" , ¶ms ); * \endcode * * You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````. diff --git a/src/capture/capture_diff_drive.cpp b/src/capture/capture_diff_drive.cpp index cc81850c8447040d21f7e6cffa4f079c5884ca47..625007b36f72d69fa4f9a7535729dcc29fae9f4e 100644 --- a/src/capture/capture_diff_drive.cpp +++ b/src/capture/capture_diff_drive.cpp @@ -13,7 +13,7 @@ CaptureDiffDrive::CaptureDiffDrive(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _intr_ptr) : - CaptureMotion("DIFF DRIVE", + CaptureMotion("CaptureDiffDrive", _ts, _sensor_ptr, _data, diff --git a/src/capture/capture_odom_2D.cpp b/src/capture/capture_odom_2D.cpp index 36826540a27804e14c61102260bbec24a36df58f..ab9c39b639f55c6b98cc4fecd175fc02169223bb 100644 --- a/src/capture/capture_odom_2D.cpp +++ b/src/capture/capture_odom_2D.cpp @@ -14,7 +14,7 @@ CaptureOdom2D::CaptureOdom2D(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, CaptureBasePtr _capture_origin_ptr): - CaptureMotion("ODOM 2D", _init_ts, _sensor_ptr, _data, 3, 3, _capture_origin_ptr) + CaptureMotion("CaptureOdom2D", _init_ts, _sensor_ptr, _data, 3, 3, _capture_origin_ptr) { // } @@ -24,7 +24,7 @@ CaptureOdom2D::CaptureOdom2D(const TimeStamp& _init_ts, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_cov, CaptureBasePtr _capture_origin_ptr): - CaptureMotion("ODOM 2D", _init_ts, _sensor_ptr, _data, _data_cov, 3, 3, _capture_origin_ptr) + CaptureMotion("CaptureOdom2D", _init_ts, _sensor_ptr, _data, _data_cov, 3, 3, _capture_origin_ptr) { // } diff --git a/src/capture/capture_odom_3D.cpp b/src/capture/capture_odom_3D.cpp index 84f263d2cfbd6c97e647b8504322352696d4332d..bbb529ee925c68355717afc4462a0aae8444533a 100644 --- a/src/capture/capture_odom_3D.cpp +++ b/src/capture/capture_odom_3D.cpp @@ -14,7 +14,7 @@ CaptureOdom3D::CaptureOdom3D(const TimeStamp& _init_ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, CaptureBasePtr _capture_origin_ptr): - CaptureMotion("ODOM 3D", _init_ts, _sensor_ptr, _data, 7, 6, _capture_origin_ptr) + CaptureMotion("CaptureOdom3D", _init_ts, _sensor_ptr, _data, 7, 6, _capture_origin_ptr) { // } @@ -24,7 +24,7 @@ CaptureOdom3D::CaptureOdom3D(const TimeStamp& _init_ts, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_cov, CaptureBasePtr _capture_origin_ptr): - CaptureMotion("ODOM 3D", _init_ts, _sensor_ptr, _data, _data_cov, 7, 6, _capture_origin_ptr) + CaptureMotion("CaptureOdom3D", _init_ts, _sensor_ptr, _data, _data_cov, 7, 6, _capture_origin_ptr) { // } diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp index 46177687a1cbaab1a507ba3ac4e091aec7d9b7fd..3771b44fbba116020c82456804960bff07f18808 100644 --- a/src/capture/capture_pose.cpp +++ b/src/capture/capture_pose.cpp @@ -3,7 +3,7 @@ namespace wolf{ CapturePose::CapturePose(const TimeStamp& _ts, SensorBasePtr _sensor_ptr, const Eigen::VectorXs& _data, const Eigen::MatrixXs& _data_covariance) : - CaptureBase("POSE", _ts, _sensor_ptr), + CaptureBase("CapturePose", _ts, _sensor_ptr), data_(_data), data_covariance_(_data_covariance) { diff --git a/src/capture/capture_velocity.cpp b/src/capture/capture_velocity.cpp index 00a6b796bbba9135ee8fbba1150ff353c29b72ec..14cb2626fa074450dc484b6c90c02aff647f909d 100644 --- a/src/capture/capture_velocity.cpp +++ b/src/capture/capture_velocity.cpp @@ -7,7 +7,7 @@ CaptureVelocity::CaptureVelocity(const TimeStamp& _ts, const Eigen::VectorXs& _velocity, SizeEigen _delta_size, SizeEigen _delta_cov_size, CaptureBasePtr _capture_origin_ptr) : - CaptureMotion("VELOCITY", _ts, _sensor_ptr, _velocity, + CaptureMotion("CaptureVelocity", _ts, _sensor_ptr, _velocity, _delta_size, _delta_cov_size, _capture_origin_ptr) { // @@ -22,7 +22,7 @@ CaptureVelocity::CaptureVelocity(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _intr_ptr) : - CaptureMotion("VELOCITY", _ts, _sensor_ptr, _velocity, _velocity_cov, + CaptureMotion("CaptureVelocity", _ts, _sensor_ptr, _velocity, _velocity_cov, _delta_size, _delta_cov_size, _capture_origin_ptr, _p_ptr, _o_ptr, _intr_ptr) { diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp index cdc8ce156ab6f7309a28cc3e5c8551dd7bea1d12..dcce03c9dc66e1dc38c62fa87dcdfdd4a25b528e 100644 --- a/src/capture/capture_void.cpp +++ b/src/capture/capture_void.cpp @@ -3,7 +3,7 @@ namespace wolf { CaptureVoid::CaptureVoid(const TimeStamp& _ts, SensorBasePtr _sensor_ptr) : - CaptureBase("VOID", _ts, _sensor_ptr) + CaptureBase("CaptureVoid", _ts, _sensor_ptr) { // } diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp index ecf92ab78148361f036d7df23cae237a998a98d4..452ade3585f54eaa436226838247ddbe067e69b7 100644 --- a/src/feature/feature_diff_drive.cpp +++ b/src/feature/feature_diff_drive.cpp @@ -7,7 +7,7 @@ FeatureDiffDrive::FeatureDiffDrive(const Eigen::VectorXs& _delta_preintegrated, const Eigen::MatrixXs& _delta_preintegrated_covariance, const Eigen::VectorXs& _diff_drive_params, const Eigen::MatrixXs& _jacobian_diff_drive_params) : - FeatureMotion("DIFF DRIVE", + FeatureMotion("FeatureDiffDrive", _delta_preintegrated, _delta_preintegrated_covariance, _diff_drive_params, diff --git a/src/feature/feature_odom_2D.cpp b/src/feature/feature_odom_2D.cpp index ee6cd60ba38a16a161925d79512eaf9fa1e6212d..30bdb519152a1be4f849218fb9a88cbfd489da18 100644 --- a/src/feature/feature_odom_2D.cpp +++ b/src/feature/feature_odom_2D.cpp @@ -3,7 +3,7 @@ namespace wolf { FeatureOdom2D::FeatureOdom2D(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance) : - FeatureBase("ODOM 2D", _measurement, _meas_covariance) + FeatureBase("FeatureOdom2D", _measurement, _meas_covariance) { //std::cout << "New FeatureOdom2D: measurement " << _measurement.transpose() << std::endl << "covariance" << std::endl << _meas_covariance << std::endl; } diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp index 344d230a7164d0c222567ae9ea7e1000be23cb84..7aba0e1bc02efdcad0d6f0a5115b036ea397bc80 100644 --- a/src/feature/feature_pose.cpp +++ b/src/feature/feature_pose.cpp @@ -3,7 +3,7 @@ namespace wolf { FeaturePose::FeaturePose(const Eigen::VectorXs& _measurement, const Eigen::MatrixXs& _meas_covariance) : - FeatureBase("POSE", _measurement, _meas_covariance) + FeatureBase("FeaturePose", _measurement, _meas_covariance) { // } diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp index 20e32da0a4e7d5d03a4475cb7ed37e54a7865311..a54bf42672a05a8eceb75f52d2ec829e22c2cc8d 100644 --- a/src/landmark/landmark_base.cpp +++ b/src/landmark/landmark_base.cpp @@ -221,7 +221,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node) ori_sb = std::make_shared<StateAngle>(ori(0), ori_fixed); } - LandmarkBasePtr lmk = std::make_shared<LandmarkBase>("BASE", pos_sb, ori_sb); + LandmarkBasePtr lmk = std::make_shared<LandmarkBase>("LandmarkBase", pos_sb, ori_sb); lmk->setId(id); return lmk; @@ -230,7 +230,7 @@ LandmarkBasePtr LandmarkBase::create(const YAML::Node& _node) // Register landmark creator namespace { -const bool WOLF_UNUSED registered_lmk_base = LandmarkFactory::get().registerCreator("BASE", LandmarkBase::create); +const bool WOLF_UNUSED registered_lmk_base = LandmarkFactory::get().registerCreator("LandmarkBase", LandmarkBase::create); } } // namespace wolf diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp index d39042c0f60ef8a070541d786d1e71dc7e0a8000..2eacf6c8d8c4e2c05772a15d02b57cf94b058933 100644 --- a/src/problem/problem.cpp +++ b/src/problem/problem.cpp @@ -30,12 +30,6 @@ namespace wolf { -// unnamed namespace used for helper functions local to this file. -namespace -{ -std::string uppercase(std::string s) {for (auto & c: s) c = std::toupper(c); return s;} -} - Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) : hardware_ptr_(std::make_shared<HardwareBase>()), trajectory_ptr_(std::make_shared<TrajectoryBase>(_frame_structure)), @@ -181,7 +175,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, // const Eigen::VectorXs& _extrinsics, // IntrinsicsBasePtr _intrinsics) { - SensorBasePtr sen_ptr = SensorFactory::get().create(uppercase(_sen_type), _unique_sensor_name, _extrinsics, _intrinsics); + SensorBasePtr sen_ptr = SensorFactory::get().create(_sen_type, _unique_sensor_name, _extrinsics, _intrinsics); sen_ptr->link(getHardware()); return sen_ptr; } @@ -207,7 +201,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, // const std::string& _unique_sensor_name, // const ParamsServer& _server) { - SensorBasePtr sen_ptr = AutoConfSensorFactory::get().create(uppercase(_sen_type), _unique_sensor_name, _server); + SensorBasePtr sen_ptr = AutoConfSensorFactory::get().create(_sen_type, _unique_sensor_name, _server); sen_ptr->link(getHardware()); return sen_ptr; } @@ -224,7 +218,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, // return ProcessorBasePtr(); } - ProcessorBasePtr prc_ptr = ProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _prc_params); + ProcessorBasePtr prc_ptr = ProcessorFactory::get().create(_prc_type, _unique_processor_name, _prc_params); prc_ptr->configure(_corresponding_sensor_ptr); prc_ptr->link(_corresponding_sensor_ptr); @@ -266,7 +260,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, // if (sen_ptr == nullptr) throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!"); - ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _server); + ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(_prc_type, _unique_processor_name, _server); prc_ptr->configure(sen_ptr); prc_ptr->link(sen_ptr); diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp index 79de4b220a5e3ea71233aed1a760936ba28f5042..da45cb6f62a7f0304061158e1f694e8232956400 100644 --- a/src/processor/processor_diff_drive.cpp +++ b/src/processor/processor_diff_drive.cpp @@ -21,7 +21,7 @@ ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrivePtr _params params_prc_diff_drv_selfcal_(_params), radians_per_tick_(0.0) // This param needs further initialization. See this->configure(sensor). { - setType("DIFF DRIVE"); // overwrite odom2D setting + setType("ProcessorDiffDrive"); // overwrite odom2D setting calib_size_ = 3; // overwrite odom2D setting unmeasured_perturbation_cov_ = Matrix1s(_params->unmeasured_perturbation_std * _params->unmeasured_perturbation_std); // overwrite odom2D setting } @@ -147,7 +147,7 @@ CaptureMotionPtr ProcessorDiffDrive::emplaceCapture(const FrameBasePtr& _frame_o FeatureBasePtr ProcessorDiffDrive::emplaceFeature(CaptureMotionPtr _capture_motion) { auto key_feature_ptr = FeatureBase::emplace<FeatureMotion>(_capture_motion, - "DIFF DRIVE", + "ProcessorDiffDrive", _capture_motion->getBuffer().get().back().delta_integr_, _capture_motion->getBuffer().get().back().delta_integr_cov_, _capture_motion->getCalibrationPreint(), @@ -174,7 +174,7 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature, // Register in the ProcessorFactory #include "core/processor/processor_factory.h" namespace wolf { -WOLF_REGISTER_PROCESSOR("DIFF DRIVE", ProcessorDiffDrive); -WOLF_REGISTER_PROCESSOR_AUTO("DIFF DRIVE", ProcessorDiffDrive); +WOLF_REGISTER_PROCESSOR("ProcessorDiffDrive", ProcessorDiffDrive); +WOLF_REGISTER_PROCESSOR_AUTO("ProcessorDiffDrive", ProcessorDiffDrive); } // namespace wolf diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp index bf825c29f5f994bb09bfbe839ef56c98d37905f4..2edeaa5256310cf04c19a75aa04d14093a96b90c 100644 --- a/src/processor/processor_odom_2D.cpp +++ b/src/processor/processor_odom_2D.cpp @@ -3,7 +3,7 @@ namespace wolf { ProcessorOdom2D::ProcessorOdom2D(ProcessorParamsOdom2DPtr _params) : - ProcessorMotion("ODOM 2D", 3, 3, 3, 2, 0, _params), + ProcessorMotion("ProcessorOdom2D", 3, 3, 3, 2, 0, _params), params_odom_2D_(_params) { unmeasured_perturbation_cov_ = _params->unmeasured_perturbation_std * _params->unmeasured_perturbation_std * Matrix3s::Identity(); @@ -151,7 +151,7 @@ FeatureBasePtr ProcessorOdom2D::emplaceFeature(CaptureMotionPtr _capture_motion) makePosDef(covariance); FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion, - "ODOM 2D", + "ProcessorOdom2D", _capture_motion->getBuffer().get().back().delta_integr_, covariance); return key_feature_ptr; @@ -164,6 +164,6 @@ FeatureBasePtr ProcessorOdom2D::emplaceFeature(CaptureMotionPtr _capture_motion) // Register in the ProcessorFactory #include "core/processor/processor_factory.h" namespace wolf { -WOLF_REGISTER_PROCESSOR("ODOM 2D", ProcessorOdom2D); -WOLF_REGISTER_PROCESSOR_AUTO("ODOM 2D", ProcessorOdom2D); +WOLF_REGISTER_PROCESSOR("ProcessorOdom2D", ProcessorOdom2D); +WOLF_REGISTER_PROCESSOR_AUTO("ProcessorOdom2D", ProcessorOdom2D); } // namespace wolf diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp index 180293e74f0c19689e7ca30919a4afb542ab8726..a840e0d733cfcd83d63311c3caaaa99393e287d7 100644 --- a/src/processor/processor_odom_3D.cpp +++ b/src/processor/processor_odom_3D.cpp @@ -3,7 +3,7 @@ namespace wolf { ProcessorOdom3D::ProcessorOdom3D(ProcessorParamsOdom3DPtr _params) : - ProcessorMotion("ODOM 3D", 7, 7, 6, 6, 0, _params), + ProcessorMotion("ProcessorOdom3D", 7, 7, 6, 6, 0, _params), params_odom_3D_ (_params), k_disp_to_disp_ (0), k_disp_to_rot_ (0), @@ -227,7 +227,7 @@ CaptureMotionPtr ProcessorOdom3D::emplaceCapture(const FrameBasePtr& _frame_own, FeatureBasePtr ProcessorOdom3D::emplaceFeature(CaptureMotionPtr _capture_motion) { FeatureBasePtr key_feature_ptr = FeatureBase::emplace<FeatureBase>(_capture_motion, - "ODOM 3D", + "ProcessorOdom3D", _capture_motion->getBuffer().get().back().delta_integr_, _capture_motion->getBuffer().get().back().delta_integr_cov_); return key_feature_ptr; @@ -246,6 +246,6 @@ FactorBasePtr ProcessorOdom3D::emplaceFactor(FeatureBasePtr _feature_motion, Cap // Register in the SensorFactory #include "core/processor/processor_factory.h" namespace wolf { -WOLF_REGISTER_PROCESSOR("ODOM 3D", ProcessorOdom3D); -WOLF_REGISTER_PROCESSOR_AUTO("ODOM 3D", ProcessorOdom3D); +WOLF_REGISTER_PROCESSOR("ProcessorOdom3D", ProcessorOdom3D); +WOLF_REGISTER_PROCESSOR_AUTO("ProcessorOdom3D", ProcessorOdom3D); } // namespace wolf diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp index d19ab8aa2e4d2ba5f9146bbdad2d45e5d855afc2..6e4446da2766cb670e23226fc1945d4f86af3f90 100644 --- a/src/sensor/sensor_diff_drive.cpp +++ b/src/sensor/sensor_diff_drive.cpp @@ -13,7 +13,7 @@ namespace wolf SensorDiffDrive::SensorDiffDrive(const Eigen::VectorXs& _extrinsics, const IntrinsicsDiffDrivePtr& _intrinsics) : - SensorBase("DIFF DRIVE", + SensorBase("SensorDiffDrive", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), std::make_shared<StateBlock>(3, false), @@ -36,7 +36,7 @@ SensorDiffDrive::~SensorDiffDrive() // Register in the SensorFactory #include "core/sensor/sensor_factory.h" namespace wolf { -WOLF_REGISTER_SENSOR("DIFF DRIVE", SensorDiffDrive); -WOLF_REGISTER_SENSOR_AUTO("DIFF DRIVE", SensorDiffDrive); +WOLF_REGISTER_SENSOR("SensorDiffDrive", SensorDiffDrive); +WOLF_REGISTER_SENSOR_AUTO("SensorDiffDrive", SensorDiffDrive); } // namespace wolf diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp index 44d69e34f81044c6706d952c2f1eeff1b9cdc533..8714478613edb4747ddab4285c4c1e16d7bba110 100644 --- a/src/sensor/sensor_odom_2D.cpp +++ b/src/sensor/sensor_odom_2D.cpp @@ -5,7 +5,7 @@ namespace wolf { SensorOdom2D::SensorOdom2D(Eigen::VectorXs _extrinsics, const IntrinsicsOdom2D& _intrinsics) : - SensorBase("ODOM 2D", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), nullptr, 2), + SensorBase("SensorOdom2D", std::make_shared<StateBlock>(_extrinsics.head(2), true), std::make_shared<StateAngle>(_extrinsics(2), true), nullptr, 2), k_disp_to_disp_(_intrinsics.k_disp_to_disp), k_rot_to_rot_(_intrinsics.k_rot_to_rot) { @@ -39,6 +39,6 @@ Scalar SensorOdom2D::getRotVarToRotNoiseFactor() const // Register in the SensorFactory #include "core/sensor/sensor_factory.h" namespace wolf { -WOLF_REGISTER_SENSOR("ODOM 2D", SensorOdom2D); -WOLF_REGISTER_SENSOR_AUTO("ODOM 2D", SensorOdom2D); +WOLF_REGISTER_SENSOR("SensorOdom2D", SensorOdom2D); +WOLF_REGISTER_SENSOR_AUTO("SensorOdom2D", SensorOdom2D); } // namespace wolf diff --git a/src/sensor/sensor_odom_3D.cpp b/src/sensor/sensor_odom_3D.cpp index 04de2bbd642491004a640971dba01c99032c6607..e3aba3760ee96f897e865dda5c78b32fa0867043 100644 --- a/src/sensor/sensor_odom_3D.cpp +++ b/src/sensor/sensor_odom_3D.cpp @@ -13,7 +13,7 @@ namespace wolf { SensorOdom3D::SensorOdom3D(const Eigen::VectorXs& _extrinsics_pq, const IntrinsicsOdom3D& _intrinsics) : - SensorBase("ODOM 3D", std::make_shared<StateBlock>(_extrinsics_pq.head(3), true), std::make_shared<StateQuaternion>(_extrinsics_pq.tail(4), true), nullptr, 6), + SensorBase("SensorOdom3D", std::make_shared<StateBlock>(_extrinsics_pq.head(3), true), std::make_shared<StateQuaternion>(_extrinsics_pq.tail(4), true), nullptr, 6), k_disp_to_disp_(_intrinsics.k_disp_to_disp), k_disp_to_rot_(_intrinsics.k_disp_to_rot), k_rot_to_rot_(_intrinsics.k_rot_to_rot), @@ -42,6 +42,6 @@ SensorOdom3D::~SensorOdom3D() // Register in the SensorFactory #include "core/sensor/sensor_factory.h" namespace wolf { -WOLF_REGISTER_SENSOR("ODOM 3D", SensorOdom3D); -WOLF_REGISTER_SENSOR_AUTO("ODOM 3D", SensorOdom3D); +WOLF_REGISTER_SENSOR("SensorOdom3D", SensorOdom3D); +WOLF_REGISTER_SENSOR_AUTO("SensorOdom3D", SensorOdom3D); } diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp index f9f939553af76223416385f11785fe2ee694e70d..99a3d6f2d9a80b34815075dff721aaafc77728e2 100644 --- a/src/yaml/processor_odom_3D_yaml.cpp +++ b/src/yaml/processor_odom_3D_yaml.cpp @@ -24,7 +24,7 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f { YAML::Node config = YAML::LoadFile(_filename_dot_yaml); - if (config["type"].as<std::string>() == "ODOM 3D") + if (config["type"].as<std::string>() == "ProcessorOdom3D") { ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>(); @@ -48,7 +48,7 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f } // Register in the SensorFactory -const bool WOLF_UNUSED registered_prc_odom_3D = ProcessorParamsFactory::get().registerCreator("ODOM 3D", createProcessorOdom3DParams); +const bool WOLF_UNUSED registered_prc_odom_3D = ProcessorParamsFactory::get().registerCreator("ProcessorOdom3D", createProcessorOdom3DParams); } // namespace [unnamed] diff --git a/src/yaml/sensor_odom_2D_yaml.cpp b/src/yaml/sensor_odom_2D_yaml.cpp index 99220af9bcb49ff574228c059cb09b8b6a8ee1a3..47bcea92a34c78ee2fd068beccdd5ecf7ac999c8 100644 --- a/src/yaml/sensor_odom_2D_yaml.cpp +++ b/src/yaml/sensor_odom_2D_yaml.cpp @@ -25,7 +25,7 @@ static IntrinsicsBasePtr createIntrinsicsOdom2D(const std::string & _filename_do { YAML::Node config = YAML::LoadFile(_filename_dot_yaml); - if (config["type"].as<std::string>() == "ODOM 2D") + if (config["type"].as<std::string>() == "SensorOdom2D") { auto params = std::make_shared<IntrinsicsOdom2D>(); @@ -40,7 +40,7 @@ static IntrinsicsBasePtr createIntrinsicsOdom2D(const std::string & _filename_do } // Register in the SensorFactory -const bool WOLF_UNUSED registered_odom_2D_intr = IntrinsicsFactory::get().registerCreator("ODOM 2D", createIntrinsicsOdom2D); +const bool WOLF_UNUSED registered_odom_2D_intr = IntrinsicsFactory::get().registerCreator("SensorOdom2D", createIntrinsicsOdom2D); } // namespace [unnamed] diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp index 51ceb2f6344d440fec93bf3417654a9f47bf3333..3d364d9114d0f90bdbbb881abee6b410ada771a8 100644 --- a/src/yaml/sensor_odom_3D_yaml.cpp +++ b/src/yaml/sensor_odom_3D_yaml.cpp @@ -24,7 +24,7 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do { YAML::Node config = YAML::LoadFile(_filename_dot_yaml); - if (config["type"].as<std::string>() == "ODOM 3D") + if (config["type"].as<std::string>() == "SensorOdom3D") { IntrinsicsOdom3DPtr params = std::make_shared<IntrinsicsOdom3D>(); @@ -42,7 +42,7 @@ static IntrinsicsBasePtr createIntrinsicsOdom3D(const std::string & _filename_do } // Register in the SensorFactory -const bool WOLF_UNUSED registered_odom_3D_intr = IntrinsicsFactory::get().registerCreator("ODOM 3D", createIntrinsicsOdom3D); +const bool WOLF_UNUSED registered_odom_3D_intr = IntrinsicsFactory::get().registerCreator("SensorOdom3D", createIntrinsicsOdom3D); } // namespace [unnamed] diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h index 83e07bb49060279665ba9002798989be5693440a..c95634eb09ffbea46dae309720c02f889458539d 100644 --- a/test/dummy/factor_feature_dummy.h +++ b/test/dummy/factor_feature_dummy.h @@ -52,7 +52,7 @@ class FactorFeatureDummy : public FactorBase inline FactorFeatureDummy::FactorFeatureDummy(const FeatureBasePtr& /*_feature_ptr*/, const FeatureBasePtr& _feature_other_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function, FactorStatus _status) : - FactorBase("FEATURE DUMMY", nullptr, nullptr, _feature_other_ptr, nullptr, _processor_ptr, _apply_loss_function, _status) + FactorBase("FactorFeatureDummy", nullptr, nullptr, _feature_other_ptr, nullptr, _processor_ptr, _apply_loss_function, _status) { // } diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h index 95a5c483dc4dfd336880b64972f4ecad4fcb07bf..d46f6c645cd3d3bc626fc648a2107308022da96a 100644 --- a/test/dummy/factor_landmark_dummy.h +++ b/test/dummy/factor_landmark_dummy.h @@ -52,7 +52,7 @@ class FactorLandmarkDummy : public FactorBase inline FactorLandmarkDummy::FactorLandmarkDummy(const FeatureBasePtr& /*_feature_ptr*/, const LandmarkBasePtr& _landmark_other_ptr, const ProcessorBasePtr& _processor_ptr, bool _apply_loss_function, FactorStatus _status) : - FactorBase("FEATURE DUMMY", nullptr, nullptr, nullptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status) + FactorBase("FactorFeatureDummy", nullptr, nullptr, nullptr, _landmark_other_ptr, _processor_ptr, _apply_loss_function, _status) { // } diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp index 05b2f34494472cfa9fde355b91d0b48a6609d25a..6a2626e76296f0616418762f3971e4c6f4c5d74a 100644 --- a/test/dummy/processor_tracker_feature_dummy.cpp +++ b/test/dummy/processor_tracker_feature_dummy.cpp @@ -113,5 +113,5 @@ ProcessorBasePtr ProcessorTrackerFeatureDummy::create(const std::string& _unique // Register in the ProcessorFactory #include "core/processor/processor_factory.h" namespace wolf { -WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy) +WOLF_REGISTER_PROCESSOR("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy) } // namespace wolf diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h index b4fdb44a79f6d5053e258379e1eadc8811cbfae7..4f5205d152ad4b0916d5c4968e754eb8da84c023 100644 --- a/test/dummy/processor_tracker_feature_dummy.h +++ b/test/dummy/processor_tracker_feature_dummy.h @@ -110,7 +110,7 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature }; inline ProcessorTrackerFeatureDummy::ProcessorTrackerFeatureDummy(ProcessorParamsTrackerFeatureDummyPtr _params_tracker_feature_dummy) : - ProcessorTrackerFeature("TRACKER FEATURE DUMMY", _params_tracker_feature_dummy), + ProcessorTrackerFeature("ProcessorTrackerFeatureDummy", _params_tracker_feature_dummy), params_tracker_feature_dummy_(_params_tracker_feature_dummy) { // diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp index 532906ac27f319486b619fd6f8e0f882d3676197..42da1408bd12e47ffcc4c10409087b38e7d3aa3c 100644 --- a/test/dummy/processor_tracker_landmark_dummy.cpp +++ b/test/dummy/processor_tracker_landmark_dummy.cpp @@ -13,7 +13,7 @@ namespace wolf { ProcessorTrackerLandmarkDummy::ProcessorTrackerLandmarkDummy(ProcessorParamsTrackerLandmarkDummyPtr _params_tracker_landmark_dummy) : - ProcessorTrackerLandmark("TRACKER LANDMARK DUMMY", _params_tracker_landmark_dummy), + ProcessorTrackerLandmark("ProcessorTrackerLandmarkDummy", _params_tracker_landmark_dummy), params_tracker_landmark_dummy_(_params_tracker_landmark_dummy) { // @@ -101,7 +101,7 @@ unsigned int ProcessorTrackerLandmarkDummy::detectNewFeatures(const int& _max_fe LandmarkBasePtr ProcessorTrackerLandmarkDummy::emplaceLandmark(FeatureBasePtr _feature_ptr) { //std::cout << "ProcessorTrackerLandmarkDummy::emplaceLandmark" << std::endl; - return LandmarkBase::emplace<LandmarkBase>(getProblem()->getMap(), "BASE", std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1)); + return LandmarkBase::emplace<LandmarkBase>(getProblem()->getMap(), "LandmarkBase", std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1)); } FactorBasePtr ProcessorTrackerLandmarkDummy::emplaceFactor(FeatureBasePtr _feature_ptr, LandmarkBasePtr _landmark_ptr) diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp index da5a01b80e98cf776957422d5bca8729b89ff038..e2047009e612990818bf877724804500464a8577 100644 --- a/test/gtest_ceres_manager.cpp +++ b/test/gtest_ceres_manager.cpp @@ -320,7 +320,7 @@ TEST(CeresManager, AddFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f,f); // update solver @@ -342,7 +342,7 @@ TEST(CeresManager, DoubleAddFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f,f); // add factor again @@ -367,7 +367,7 @@ TEST(CeresManager, RemoveFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f,f); // update solver @@ -395,7 +395,7 @@ TEST(CeresManager, AddRemoveFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f,f); // remove factor @@ -422,7 +422,7 @@ TEST(CeresManager, DoubleRemoveFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f,f); // update solver @@ -549,7 +549,7 @@ TEST(CeresManager, FactorsRemoveLocalParam) // Create (and add) 2 factors quaternion FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorQuaternionAbsolutePtr c1 = FactorBase::emplace<FactorQuaternionAbsolute>(f, F->getO()); FactorQuaternionAbsolutePtr c2 = FactorBase::emplace<FactorQuaternionAbsolute>(f, F->getO()); @@ -591,7 +591,7 @@ TEST(CeresManager, FactorsUpdateLocalParam) // Create (and add) 2 factors quaternion FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorQuaternionAbsolutePtr c1 = FactorBase::emplace<FactorQuaternionAbsolute>(f, F->getO()); FactorQuaternionAbsolutePtr c2 = FactorBase::emplace<FactorQuaternionAbsolute>(f, F->getO()); diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp index 7213c1084cf13077a0413cbbea48af0676b330d8..f6705579818494debc790f7ed397c38a661bf154 100644 --- a/test/gtest_factor_absolute.cpp +++ b/test/gtest_factor_absolute.cpp @@ -82,7 +82,7 @@ TEST(FactorBlockAbs, fac_block_abs_p_tail2) TEST(FactorBlockAbs, fac_block_abs_v) { - auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "VELOCITY", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()); + auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "FeatureVelocity", pose10.tail<3>(), data_cov.bottomRightCorner<3,3>()); FactorBase::emplace<FactorBlockAbsolute>(fea0, fea0->getFrame()->getV()); ASSERT_TRUE(problem_ptr->check(0)); @@ -100,7 +100,7 @@ TEST(FactorBlockAbs, fac_block_abs_v) TEST(FactorQuatAbs, fac_block_abs_o) { - auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "QUATERNION", pose10.segment<4>(3), data_cov.block<3,3>(3,3)); + auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "FeatureQuaternion", pose10.segment<4>(3), data_cov.block<3,3>(3,3)); FactorBase::emplace<FactorQuaternionAbsolute>(fea0, fea0->getFrame()->getO()); ASSERT_TRUE(problem_ptr->check(0)); diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp index 6caa5f868adceb291690590455bea94520771b0f..7d3aeb5e822545d7ad20d2d76fb715813aae4eef 100644 --- a/test/gtest_factor_diff_drive.cpp +++ b/test/gtest_factor_diff_drive.cpp @@ -149,7 +149,7 @@ class FactorDiffDriveTest : public testing::Test intr->wheel_separation = 1.0; // DO NOT MODIFY THESE VALUES !!! intr->ticks_per_wheel_revolution = 100; // DO NOT MODIFY THESE VALUES !!! Vector3s extr(0, 0, 0); - auto sen = problem->installSensor("DIFF DRIVE", "sensor", extr, intr); + auto sen = problem->installSensor("SensorDiffDrive", "sensor", extr, intr); sensor = std::static_pointer_cast<SensorDiffDrive>(sen); calib = sensor->getIntrinsic()->getState(); @@ -158,7 +158,7 @@ class FactorDiffDriveTest : public testing::Test params->angle_turned = 1; params->dist_traveled = 2; params->max_buff_length = 3; - auto prc = problem->installProcessor("DIFF DRIVE", "diff drive", sensor, params); + auto prc = problem->installProcessor("ProcessorDiffDrive", "diff drive", sensor, params); processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc); // frames @@ -198,7 +198,7 @@ class FactorDiffDriveTest : public testing::Test // feature f1 = FeatureBase::emplace<FeatureMotion>(C1, - "DIFF DRIVE", + "FeatureDiffDrive", delta1, delta1_cov, C0->getCalibration(), @@ -234,7 +234,7 @@ TEST_F(FactorDiffDriveTest, constructor) { // plain constructor auto c1_obj = FactorDiffDrive(f1, C0, processor); - ASSERT_EQ(c1_obj.getType(), "DIFF DRIVE"); + ASSERT_EQ(c1_obj.getType(), "FactorDiffDrive"); // std: make_shared c1 = std::make_shared<FactorDiffDrive>(f1, @@ -242,7 +242,7 @@ TEST_F(FactorDiffDriveTest, constructor) processor); ASSERT_NE(c1, nullptr); - ASSERT_EQ(c1->getType(), "DIFF DRIVE"); + ASSERT_EQ(c1->getType(), "FactorDiffDrive"); // wolf: emplace c1 = FactorBase::emplace<FactorDiffDrive>(f1, @@ -251,7 +251,7 @@ TEST_F(FactorDiffDriveTest, constructor) processor); ASSERT_NE(c1, nullptr); - ASSERT_EQ(c1->getType(), "DIFF DRIVE"); + ASSERT_EQ(c1->getType(), "FactorDiffDrive"); ASSERT_EQ(c1->getCaptureOther()->getSensorIntrinsic(), sensor->getIntrinsic()); } @@ -423,7 +423,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt) intr->wheel_separation = 1.0; // DO NOT MODIFY THESE VALUES !!! intr->ticks_per_wheel_revolution = 100; // DO NOT MODIFY THESE VALUES !!! Vector3s extr(0, 0, 0); - auto sen = problem->installSensor("DIFF DRIVE", "sensor", extr, intr); + auto sen = problem->installSensor("SensorDiffDrive", "sensor", extr, intr); auto sensor = std::static_pointer_cast<SensorDiffDrive>(sen); auto calib_preint = sensor->getIntrinsic()->getState(); Vector3s calib_gt(1,1,1); @@ -435,7 +435,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt) params->max_buff_length = 99; params->voting_active = true; params->max_time_span = 1.5; - auto prc = problem->installProcessor("DIFF DRIVE", "diff drive", sensor, params); + auto prc = problem->installProcessor("ProcessorDiffDrive", "diff drive", sensor, params); auto processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc); @@ -555,7 +555,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics) intr->wheel_separation = 1.05; intr->ticks_per_wheel_revolution = 100; // DO NOT MODIFY THESE VALUES !!! Vector3s extr(0, 0, 0); - auto sen = problem->installSensor("DIFF DRIVE", "sensor", extr, intr); + auto sen = problem->installSensor("SensorDiffDrive", "sensor", extr, intr); auto sensor = std::static_pointer_cast<SensorDiffDrive>(sen); auto calib_preint = sensor->getIntrinsic()->getState(); Vector3s calib_gt(1.0, 1.0, 1.0); // ground truth calib @@ -567,7 +567,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics) params->max_buff_length = 99; params->voting_active = true; params->max_time_span = 1.5; - auto prc = problem->installProcessor("DIFF DRIVE", "diff drive", sensor, params); + auto prc = problem->installProcessor("ProcessorDiffDrive", "diff drive", sensor, params); auto processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(prc); diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp index d6eb4ddf7ea7b07cdb675b96cb7af81e3adc3c8d..4ff27b9117808265ec8b79c0c78451a7cfbcbac8 100644 --- a/test/gtest_factor_odom_3D.cpp +++ b/test/gtest_factor_odom_3D.cpp @@ -41,8 +41,8 @@ FrameBasePtr frm0 = problem_ptr->emplaceFrame(KEY, problem_ptr->zeroState(), Tim FrameBasePtr frm1 = problem_ptr->emplaceFrame(KEY, delta, TimeStamp(1)); // Capture, feature and factor from frm1 to frm0 -auto cap1 = CaptureBase::emplace<CaptureMotion>(frm1, "ODOM 3D", 1, nullptr, delta, 7, 6, nullptr); -auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "ODOM 3D", delta, data_cov); +auto cap1 = CaptureBase::emplace<CaptureMotion>(frm1, "CaptureOdom3D", 1, nullptr, delta, 7, 6, nullptr); +auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom3D", delta, data_cov); FactorOdom3DPtr ctr1 = FactorBase::emplace<FactorOdom3D>(fea1, fea1, frm0, nullptr); // create and add //////////////////////////////////////////////////////// diff --git a/test/gtest_factor_pose_2D.cpp b/test/gtest_factor_pose_2D.cpp index 3c88521c95ab2966b839cd6ab551ef6224b27390..6be39e3471ce81fb89ec05c6ad84cfe2d696bc49 100644 --- a/test/gtest_factor_pose_2D.cpp +++ b/test/gtest_factor_pose_2D.cpp @@ -33,10 +33,10 @@ CeresManager ceres_mgr(problem); FrameBasePtr frm0 = problem->emplaceFrame(KEY, problem->zeroState(), TimeStamp(0)); // Capture, feature and factor from frm1 to frm0 -// CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("ODOM 2D", 0, nullptr, pose, 3, 3, nullptr)); -auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "ODOM 2D", 0, nullptr, pose, 3, 3, nullptr); -// FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("ODOM 2D", pose, data_cov)); -auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "ODOM 2D", pose, data_cov); +// CaptureBasePtr cap0 = frm0->addCapture(std::make_shared<CaptureMotion>("CaptureOdom2D", 0, nullptr, pose, 3, 3, nullptr)); +auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "CaptureOdom2D", 0, nullptr, pose, 3, 3, nullptr); +// FeatureBasePtr fea0 = cap0->addFeature(std::make_shared<FeatureBase>("FeatureOdom2D", pose, data_cov)); +auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "FeatureOdom2D", pose, data_cov); // FactorPose2DPtr ctr0 = std::static_pointer_cast<FactorPose2D>(fea0->addFactor(std::make_shared<FactorPose2D>(fea0))); FactorPose2DPtr ctr0 = FactorBase::emplace<FactorPose2D>(fea0, fea0); diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp index 0b5032a27978d172432b7f68a04fdea28afc64ff..cfb89e5db2a6e1a8a6ca66d2afb83e287c5f4a73 100644 --- a/test/gtest_factor_pose_3D.cpp +++ b/test/gtest_factor_pose_3D.cpp @@ -39,8 +39,8 @@ CeresManager ceres_mgr(problem); FrameBasePtr frm0 = problem->emplaceFrame(KEY, problem->zeroState(), TimeStamp(0)); // Capture, feature and factor -auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "ODOM 3D", 0, nullptr, pose7, 7, 6, nullptr); -auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "ODOM 3D", pose7, data_cov); +auto cap0 = CaptureBase::emplace<CaptureMotion>(frm0, "CaptureOdom3D", 0, nullptr, pose7, 7, 6, nullptr); +auto fea0 = FeatureBase::emplace<FeatureBase>(cap0, "FeatureOdom3D", pose7, data_cov); FactorPose3DPtr ctr0 = FactorBase::emplace<FactorPose3D>(fea0, fea0); //////////////////////////////////////////////////////// diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp index 03f991c07c4a144f560a3759c4c081cdd2410ed1..2f6da7f75f258e796e037032a33930e4079a05ab 100644 --- a/test/gtest_frame_base.cpp +++ b/test/gtest_frame_base.cpp @@ -71,7 +71,7 @@ TEST(FrameBase, LinksToTree) auto S = SensorBase::emplace<SensorOdom2D>(P->getHardware(), Vector3s::Zero(), intrinsics_odo); auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F2 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); - auto C = CaptureBase::emplace<CaptureMotion>(F1, "MOTION", 1, S, Vector3s::Zero(), 3, 3, nullptr); + auto C = CaptureBase::emplace<CaptureMotion>(F1, "CaptureMotion", 1, S, Vector3s::Zero(), 3, 3, nullptr); /// @todo link sensor & proccessor ProcessorBasePtr p = std::make_shared<ProcessorOdom2D>(make_shared<ProcessorParamsOdom2D>()); auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1s(1), Matrix<Scalar,1,1>::Identity()*.01); diff --git a/test/gtest_map_yaml.cpp b/test/gtest_map_yaml.cpp index 60ac575e2a13591b22a8ce0c0217d049124cc9e2..3c04d1567ffb7ce9d3aeb05452fe0f175582c39d 100644 --- a/test/gtest_map_yaml.cpp +++ b/test/gtest_map_yaml.cpp @@ -36,9 +36,9 @@ TEST(MapYaml, save_2D) StateBlockPtr p3_sb = std::make_shared<StateBlock>(p3, true); StateBlockPtr o3_sb = std::make_shared<StateBlock>(o3, true); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p1_sb); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p2_sb, o2_sb); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p3_sb, o3_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p1_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p2_sb, o2_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p3_sb, o3_sb); std::string wolf_root = _WOLF_ROOT_DIR; std::string map_path = wolf_root + "/test/yaml"; @@ -159,9 +159,9 @@ TEST(MapYaml, save_3D) auto p3_sb = std::make_shared<StateBlock>(p3, true); auto q3_sb = std::make_shared<StateQuaternion>(q3, true); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p1_sb); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p2_sb, q2_sb); - LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "BASE", p3_sb, q3_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p1_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p2_sb, q2_sb); + LandmarkBase::emplace<LandmarkBase>(problem->getMap(), "LandmarkBase", p3_sb, q3_sb); std::string wolf_root = _WOLF_ROOT_DIR; std::string map_path = wolf_root + "/test/yaml"; diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp index b4647a0a83947463c8c5f8e9a975823c2f4f9fdb..54f39079573340c9395225b5aa1a6b67b6255c2c 100644 --- a/test/gtest_odom_2D.cpp +++ b/test/gtest_odom_2D.cpp @@ -133,15 +133,15 @@ TEST(Odom2D, FactorFix_and_FactorOdom2D) // KF1 and motion from KF0 t += dt; FrameBasePtr F1 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t); - auto C1 = CaptureBase::emplace<CaptureBase>(F1, "ODOM 2D", t); - auto f1 = FeatureBase::emplace<FeatureBase>(C1, "ODOM 2D", delta, delta_cov); + auto C1 = CaptureBase::emplace<CaptureBase>(F1, "CaptureOdom2D", t); + auto f1 = FeatureBase::emplace<FeatureBase>(C1, "FeatureOdom2D", delta, delta_cov); auto c1 = FactorBase::emplace<FactorOdom2D>(f1, f1, F0, nullptr); // KF2 and motion from KF1 t += dt; FrameBasePtr F2 = Pr->emplaceFrame(KEY, Vector3s::Zero(), t); - auto C2 = CaptureBase::emplace<CaptureBase>(F2, "ODOM 2D", t); - auto f2 = FeatureBase::emplace<FeatureBase>(C2, "ODOM 2D", delta, delta_cov); + auto C2 = CaptureBase::emplace<CaptureBase>(F2, "CaptureOdom2D", t); + auto f2 = FeatureBase::emplace<FeatureBase>(C2, "FeatureOdom2D", delta, delta_cov); auto c2 = FactorBase::emplace<FactorOdom2D>(f2, f2, F1, nullptr); ASSERT_TRUE(Pr->check(0)); @@ -196,7 +196,7 @@ TEST(Odom2D, VoteForKfAndSolve) // Create Wolf tree nodes ProblemPtr problem = Problem::create("PO", 2); - SensorBasePtr sensor_odom2d = problem->installSensor("ODOM 2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); + SensorBasePtr sensor_odom2d = problem->installSensor("SensorOdom2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); ProcessorParamsOdom2DPtr params(std::make_shared<ProcessorParamsOdom2D>()); params->voting_active = true; params->dist_traveled = 100; @@ -205,7 +205,7 @@ TEST(Odom2D, VoteForKfAndSolve) params->cov_det = 100; params->unmeasured_perturbation_std = 0.00; Matrix3s unmeasured_cov = params->unmeasured_perturbation_std*params->unmeasured_perturbation_std*Matrix3s::Identity(); - ProcessorBasePtr prc_base = problem->installProcessor("ODOM 2D", "odom", sensor_odom2d, params); + ProcessorBasePtr prc_base = problem->installProcessor("ProcessorOdom2D", "odom", sensor_odom2d, params); ProcessorOdom2DPtr processor_odom2d = std::static_pointer_cast<ProcessorOdom2D>(prc_base); @@ -336,7 +336,7 @@ TEST(Odom2D, KF_callback) // Create Wolf tree nodes ProblemPtr problem = Problem::create("PO", 2); - SensorBasePtr sensor_odom2d = problem->installSensor("ODOM 2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); + SensorBasePtr sensor_odom2d = problem->installSensor("SensorOdom2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); ProcessorParamsOdom2DPtr params(std::make_shared<ProcessorParamsOdom2D>()); params->dist_traveled = 100; params->angle_turned = 6.28; @@ -344,7 +344,7 @@ TEST(Odom2D, KF_callback) params->cov_det = 100; params->unmeasured_perturbation_std = 0.000001; Matrix3s unmeasured_cov = params->unmeasured_perturbation_std*params->unmeasured_perturbation_std*Matrix3s::Identity(); - ProcessorBasePtr prc_base = problem->installProcessor("ODOM 2D", "odom", sensor_odom2d, params); + ProcessorBasePtr prc_base = problem->installProcessor("ProcessorOdom2D", "odom", sensor_odom2d, params); ProcessorOdom2DPtr processor_odom2d = std::static_pointer_cast<ProcessorOdom2D>(prc_base); processor_odom2d->setTimeTolerance(dt/2); diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp index 177961d922ebf117b0a696fd870cfe76f48b86ad..3329f1c7250c6e5cd961c8ee4dd18fee477cd2a5 100644 --- a/test/gtest_param_prior.cpp +++ b/test/gtest_param_prior.cpp @@ -22,7 +22,7 @@ Eigen::Vector7s initial_extrinsics((Eigen::Vector7s() << 1, 2, 3, 1, 0, 0, 0).fi Eigen::Vector7s prior_extrinsics((Eigen::Vector7s() << 10, 20, 30, 0, 0, 0, 1).finished()); Eigen::Vector7s prior2_extrinsics((Eigen::Vector7s() << 100, 200, 300, 0, 0, 0, 1).finished()); -SensorOdom3DPtr odom_sensor_ptr_ = std::static_pointer_cast<SensorOdom3D>(problem_ptr->installSensor("ODOM 3D", "odometer", initial_extrinsics, std::make_shared<IntrinsicsOdom3D>())); +SensorOdom3DPtr odom_sensor_ptr_ = std::static_pointer_cast<SensorOdom3D>(problem_ptr->installSensor("SensorOdom3D", "odometer", initial_extrinsics, std::make_shared<IntrinsicsOdom3D>())); TEST(ParameterPrior, initial_extrinsics) { diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp index 53ebf672d6104ba4bfba1484a4a87f5424c143f0..93b2dac7b09e6a27ff7ff11d5133decc3e3cf59b 100644 --- a/test/gtest_problem.cpp +++ b/test/gtest_problem.cpp @@ -107,16 +107,16 @@ TEST(Problem, Installers) ProblemPtr P = Problem::create("PO", 3); Eigen::Vector7s xs; - SensorBasePtr S = P->installSensor ("ODOM 3D", "odometer", xs, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); + SensorBasePtr S = P->installSensor ("SensorOdom3D", "odometer", xs, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test) - auto pt = P->installProcessor("TRACKER FEATURE DUMMY", "dummy", "odometer"); + auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", "odometer"); // check motion processor IS NOT set ASSERT_FALSE(P->getProcessorMotion()); // install processor motion - ProcessorBasePtr pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); + ProcessorBasePtr pm = P->installProcessor("ProcessorOdom3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); // check motion processor is set ASSERT_TRUE(P->getProcessorMotion()); @@ -233,15 +233,15 @@ TEST(Problem, StateBlocks) Eigen::Vector3s xs2d; // 2 state blocks, fixed - SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer",xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); + SensorBasePtr Sm = P->installSensor ("SensorOdom3D", "odometer",xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2); // // 2 state blocks, fixed -// SensorBasePtr St = P->installSensor ("ODOM 2D", "other odometer", xs2d, ""); +// SensorBasePtr St = P->installSensor ("SensorOdom2D", "other odometer", xs2d, ""); // ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) (2 + 2)); - auto pt = P->installProcessor("TRACKER FEATURE DUMMY", "dummy", "odometer"); - auto pm = P->installProcessor("ODOM 3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); + auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", "odometer"); + auto pm = P->installProcessor("ProcessorOdom3D", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); // 2 state blocks, estimated auto KF = P->emplaceFrame("PO", 3, KEY, xs3d, 0); @@ -287,16 +287,16 @@ TEST(Problem, Covariances) Eigen::Vector7s xs3d; Eigen::Vector3s xs2d; - SensorBasePtr Sm = P->installSensor ("ODOM 3D", "odometer", xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); - SensorBasePtr St = P->installSensor ("ODOM 2D", "other odometer", xs2d, wolf_root + "/test/yaml/sensor_odom_2D.yaml"); + SensorBasePtr Sm = P->installSensor ("SensorOdom3D", "odometer", xs3d, wolf_root + "/test/yaml/sensor_odom_3D.yaml"); + SensorBasePtr St = P->installSensor ("SensorOdom2D", "other odometer", xs2d, wolf_root + "/test/yaml/sensor_odom_2D.yaml"); ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>(); params->time_tolerance = 0.1; params->max_new_features = 5; params->min_features_for_keyframe = 10; - auto pt = P->installProcessor("TRACKER FEATURE DUMMY", "dummy", Sm, params); - auto pm = P->installProcessor("ODOM 3D", "odom integrator", "other odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); + auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", Sm, params); + auto pm = P->installProcessor("ProcessorOdom3D", "odom integrator", "other odometer", wolf_root + "/test/yaml/processor_odom_3D.yaml"); // 4 state blocks, estimated St->unfixExtrinsics(); diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp index 36ad812454b7eb0f21c2997762e3a3ccc3096838..3567e4d0ee0b1be16fdc526ee1b928eb8d561597 100644 --- a/test/gtest_processor_base.cpp +++ b/test/gtest_processor_base.cpp @@ -53,13 +53,13 @@ TEST(ProcessorBase, KeyFrameCallback) std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)), std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2); - auto proc_trk = problem->installProcessor("TRACKER FEATURE DUMMY", "dummy", sens_trk); + auto proc_trk = problem->installProcessor("ProcessorTrackerFeatureDummy", "dummy", sens_trk); // Install odometer (sensor and processor) - SensorBasePtr sens_odo = problem->installSensor("ODOM 2D", "odometer", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); + SensorBasePtr sens_odo = problem->installSensor("SensorOdom2D", "odometer", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml"); ProcessorParamsOdom2DPtr proc_odo_params = make_shared<ProcessorParamsOdom2D>(); proc_odo_params->time_tolerance = dt/2; - ProcessorBasePtr proc_odo = problem->installProcessor("ODOM 2D", "odom processor", sens_odo, proc_odo_params); + ProcessorBasePtr proc_odo = problem->installProcessor("ProcessorOdom2D", "odom processor", sens_odo, proc_odo_params); std::cout << "sensor & processor created and added to wolf problem" << std::endl; diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp index 069f630631f03529da0d7d993f17dacb300f89a2..342f284751266099b05e358a2e09368e1fa08ff6 100644 --- a/test/gtest_processor_diff_drive.cpp +++ b/test/gtest_processor_diff_drive.cpp @@ -126,7 +126,7 @@ class ProcessorDiffDriveTest : public testing::Test intr->wheel_separation = 1.0; // DO NOT MODIFY THESE VALUES !!! intr->ticks_per_wheel_revolution = 100; // DO NOT MODIFY THESE VALUES !!! Vector3s extr(0,0,0); - sensor = std::static_pointer_cast<SensorDiffDrive>(problem->installSensor("DIFF DRIVE", "sensor diff drive", extr, intr)); + sensor = std::static_pointer_cast<SensorDiffDrive>(problem->installSensor("SensorDiffDrive", "sensor diff drive", extr, intr)); // params and processor params = std::make_shared<ProcessorParamsDiffDrive>(); @@ -136,7 +136,7 @@ class ProcessorDiffDriveTest : public testing::Test params->max_buff_length = 3; params->max_time_span = 2.5; params->unmeasured_perturbation_std = 1e-4; - processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(problem->installProcessor("DIFF DRIVE", "processor diff drive", sensor, params)); + processor = std::static_pointer_cast<ProcessorDiffDrivePublic>(problem->installProcessor("ProcessorDiffDrive", "processor diff drive", sensor, params)); } virtual void TearDown(){} @@ -153,7 +153,7 @@ TEST(ProcessorDiffDrive, constructor) ASSERT_NE(prc, nullptr); - ASSERT_EQ(prc->getType(), "DIFF DRIVE"); + ASSERT_EQ(prc->getType(), "ProcessorDiffDrive"); } TEST(ProcessorDiffDrive, create) @@ -173,7 +173,7 @@ TEST(ProcessorDiffDrive, create) ASSERT_NE(prc, nullptr); - ASSERT_EQ(prc->getType(), "DIFF DRIVE"); + ASSERT_EQ(prc->getType(), "ProcessorDiffDrive"); } TEST_F(ProcessorDiffDriveTest, params) diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp index 0977b8f87f3ba2fab515098a2afd0942f8fb6714..15e8515290eefeede88469d339b98069daa61485 100644 --- a/test/gtest_processor_motion.cpp +++ b/test/gtest_processor_motion.cpp @@ -62,7 +62,7 @@ class ProcessorMotion_test : public testing::Test{ dt = 1.0; problem = Problem::create("PO", 2); - sensor = static_pointer_cast<SensorOdom2D>(problem->installSensor("ODOM 2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml")); + sensor = static_pointer_cast<SensorOdom2D>(problem->installSensor("SensorOdom2D", "odom", Vector3s(0,0,0), wolf_root + "/test/yaml/sensor_odom_2D.yaml")); ProcessorParamsOdom2DPtr params(std::make_shared<ProcessorParamsOdom2D>()); params->time_tolerance = 0.25; params->dist_traveled = 100; @@ -71,7 +71,7 @@ class ProcessorMotion_test : public testing::Test{ params->cov_det = 100; params->unmeasured_perturbation_std = 0.001; processor = ProcessorBase::emplace<ProcessorOdom2DPublic>(sensor, params); - capture = std::make_shared<CaptureMotion>("ODOM 2D", 0.0, sensor, data, data_cov, 3, 3, nullptr); + capture = std::make_shared<CaptureMotion>("CaptureOdom2D", 0.0, sensor, data, data_cov, 3, 3, nullptr); Vector3s x0; x0 << 0, 0, 0; Matrix3s P0; P0.setIdentity(); diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp index 31dee4670b60e286a55ea315a8a1507338b3022d..9f7b0305ed0a20ba10fdb09a617d4767f089cd46 100644 --- a/test/gtest_processor_tracker_feature_dummy.cpp +++ b/test/gtest_processor_tracker_feature_dummy.cpp @@ -82,7 +82,7 @@ class ProcessorTrackerFeatureDummyTest : public testing::Test problem = Problem::create("PO", 2); // Install camera - sensor = problem->installSensor("ODOM 2D", "auxiliar sensor", (Eigen::Vector3s() << 0,0,0).finished(), std::make_shared<IntrinsicsBase>()); + sensor = problem->installSensor("SensorOdom2D", "auxiliar sensor", (Eigen::Vector3s() << 0,0,0).finished(), std::make_shared<IntrinsicsBase>()); // Install processor params = std::make_shared<ProcessorParamsTrackerFeatureDummy>(); diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp index 779ac7de285105263ae1214e0e61463e311983e5..e9a2535fccb5e265727a78b5ed71fb46f1a46b37 100644 --- a/test/gtest_processor_tracker_landmark_dummy.cpp +++ b/test/gtest_processor_tracker_landmark_dummy.cpp @@ -100,7 +100,7 @@ class ProcessorTrackerLandmarkDummyTest : public testing::Test problem = Problem::create("PO", 2); // Install camera - sensor = problem->installSensor("ODOM 2D", "auxiliar sensor", (Eigen::Vector3s() << 0,0,0).finished(), std::make_shared<IntrinsicsBase>()); + sensor = problem->installSensor("SensorOdom2D", "auxiliar sensor", (Eigen::Vector3s() << 0,0,0).finished(), std::make_shared<IntrinsicsBase>()); // Install processor params = std::make_shared<ProcessorParamsTrackerLandmarkDummy>(); @@ -260,7 +260,7 @@ TEST_F(ProcessorTrackerLandmarkDummyTest, emplaceFactor) FeatureBasePtr ftr(std::make_shared<FeatureBase>("DUMMY FEATURE", Eigen::Vector1s::Ones(), Eigen::MatrixXs::Ones(1, 1))); - LandmarkBasePtr lmk(std::make_shared<LandmarkBase>("BASE", + LandmarkBasePtr lmk(std::make_shared<LandmarkBase>("LandmarkBase", std::make_shared<StateBlock>(1), std::make_shared<StateBlock>(1))); diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp index 499629f8fc934eaa5853670dd7d24a69fdc8885c..ffbf013d678fd2c979d59c911c7e2f81cb92539e 100644 --- a/test/gtest_sensor_base.cpp +++ b/test/gtest_sensor_base.cpp @@ -13,7 +13,7 @@ using namespace wolf; TEST(SensorBase, setNoiseStd) { - SensorBasePtr S (std::make_shared<SensorBase>("BASE", nullptr, nullptr, nullptr, 2)); // noise size 2 + SensorBasePtr S (std::make_shared<SensorBase>("SensorBase", nullptr, nullptr, nullptr, 2)); // noise size 2 Eigen::Vector2s noise_std = Eigen::Vector2s::Ones() * 0.1; Eigen::Matrix2s noise_cov = Eigen::Matrix2s::Identity() * 0.01; diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp index 2616d61040d4f224cfd65020faec182d93e02376..77003a6360294f27a249c7a4e9492753c5d66997 100644 --- a/test/gtest_solver_manager.cpp +++ b/test/gtest_solver_manager.cpp @@ -517,7 +517,7 @@ TEST(SolverManager, AddFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f, f); // notification @@ -544,7 +544,7 @@ TEST(SolverManager, RemoveFactor) // Create (and add) factor point 2d FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f, f); // update solver @@ -578,7 +578,7 @@ TEST(SolverManager, AddRemoveFactor) FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f, f); // notification @@ -613,7 +613,7 @@ TEST(SolverManager, DoubleRemoveFactor) FrameBasePtr F = P->emplaceFrame(KEY, P->zeroState(), TimeStamp(0)); auto C = CaptureBase::emplace<CaptureVoid>(F, 0, nullptr); - auto f = FeatureBase::emplace<FeatureBase>(C, "ODOM 2D", Vector3s::Zero(), Matrix3s::Identity()); + auto f = FeatureBase::emplace<FeatureBase>(C, "FeatureOdom2D", Vector3s::Zero(), Matrix3s::Identity()); FactorPose2DPtr c = FactorBase::emplace<FactorPose2D>(f, f); // update solver diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp index 8d7cafc5f699abc2f0fa9d275f57d5b4b3677821..5bb8be67440f8cf15c8c37bf05c5b710906783c7 100644 --- a/test/gtest_track_matrix.cpp +++ b/test/gtest_track_matrix.cpp @@ -27,11 +27,11 @@ class TrackMatrixTest : public testing::Test { // unlinked captures // Some warnings will be thrown "linking with nullptr" for emplacing without providing frame pointer - C0 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 0.0); - C1 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 1.0); - C2 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 2.0); - C3 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 3.0); - C4 = CaptureBase::emplace<CaptureBase>(nullptr, "BASE", 4.0); + C0 = CaptureBase::emplace<CaptureBase>(nullptr, "CaptureBase", 0.0); + C1 = CaptureBase::emplace<CaptureBase>(nullptr, "CaptureBase", 1.0); + C2 = CaptureBase::emplace<CaptureBase>(nullptr, "CaptureBase", 2.0); + C3 = CaptureBase::emplace<CaptureBase>(nullptr, "CaptureBase", 3.0); + C4 = CaptureBase::emplace<CaptureBase>(nullptr, "CaptureBase", 4.0); // unlinked frames // Some warnings will be thrown "linking with nullptr" for emplacing without providing frame pointer @@ -43,11 +43,11 @@ class TrackMatrixTest : public testing::Test // unlinked features // Some warnings will be thrown "linking with nullptr" for emplacing without providing capture pointer - f0 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov); - f1 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov); - f2 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov); - f3 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov); - f4 = FeatureBase::emplace<FeatureBase>(nullptr, "BASE", m, m_cov); + f0 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); + f1 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); + f2 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); + f3 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); + f4 = FeatureBase::emplace<FeatureBase>(nullptr, "FeatureBase", m, m_cov); // F0 and F4 are keyframes F0->setKey(); diff --git a/test/yaml/processor_odom_3D.yaml b/test/yaml/processor_odom_3D.yaml index a43fb60198d51944566308f3f06b0b6f33cee8bf..25ef29e83065acfe37cff57babc06b25b3b5d57b 100644 --- a/test/yaml/processor_odom_3D.yaml +++ b/test/yaml/processor_odom_3D.yaml @@ -1,4 +1,4 @@ -type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. +type: "ProcessorOdom3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. time_tolerance: 0.01 # seconds diff --git a/test/yaml/sensor_odom_2D.yaml b/test/yaml/sensor_odom_2D.yaml index 40677f3e1cb84d7eda527e942bd54880c0ac7e37..45271b18cfff1235f05d945c6e5f124ff33e064e 100644 --- a/test/yaml/sensor_odom_2D.yaml +++ b/test/yaml/sensor_odom_2D.yaml @@ -1,4 +1,4 @@ -type: "ODOM 2D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. +type: "SensorOdom2D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. k_disp_to_disp: 0.02 # m^2 / m k_rot_to_rot: 0.01 # rad^2 / rad diff --git a/test/yaml/sensor_odom_3D.yaml b/test/yaml/sensor_odom_3D.yaml index c45adb8ca809770ff3320ec81637e7a7ea556758..9fb43d4c30c0f5c01757362f6122d0cba98b14c5 100644 --- a/test/yaml/sensor_odom_3D.yaml +++ b/test/yaml/sensor_odom_3D.yaml @@ -1,4 +1,4 @@ -type: "ODOM 3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. +type: "SensorOdom3D" # This must match the KEY used in the SensorFactory. Otherwise it is an error. k_disp_to_disp: 0.02 # m^2 / m k_disp_to_rot: 0.02 # rad^2 / m diff --git a/wolf_scripts/rename.sh b/wolf_scripts/rename.sh index 59335743b1a5931fbd09a3c22cce8913b01ed0a6..f628c06bd9f773430db68330ff2f89b78d04e0cc 100755 --- a/wolf_scripts/rename.sh +++ b/wolf_scripts/rename.sh @@ -18,17 +18,40 @@ snake2camel () # file2type $1 # echo $type # exit 1 -for file in $(find include/ src/ -type f); do - name=$(echo $file | rev | cut -d '/' -f1 | rev | cut -d '.' -f1) - extension=$(echo $name | cut -d '_' -f2- ) - # echo $extension - snake2camel $extension - camel_extension=$new_camel - snake2camel $name - camel_file=$new_camel - file2type $extension - # echo $file " %%% " $type " %%% " $camel_file - # echo "VVV "$type - sed -rn "s/\"${type}\"/\"${camel_file}\"/p" $file - # sed -ri "s/(WOLF_REGISTER_PROCESSOR[^\(]*\(\")([^\"]+)/\1${new_camel}/" $file +getTypes () +{ + for file in $(find include/ src/ test/ -type f); do + name=$(echo $file | rev | cut -d '/' -f1 | rev | cut -d '.' -f1) + extension=$(echo $name | cut -d '_' -f2- ) + # echo $extension + snake2camel $extension + camel_extension=$new_camel + snake2camel $name + camel_file=$new_camel + file2type $extension + # echo $file " %%% " $type " %%% " $camel_file + # echo "VVV "$type + # sed -rn "s/(Feature|Capture|Landmark|Processor|Factor)(.*)\"${type}\"/\1\2\"${camel_file}\"/p" $file + # echo sed -rn "s/(Capture)(.*)\"${type}\"/\1\2\"${camel_file}\"/p" $file + # type="ODOM 3D" + matching=$(ag -l "\"${type}\"" --ignore "demos" . | wc -l) + if [ $matching -gt "0" ]; then + echo ${type} + fi + # sed -ri "s/\"${type}\"/\"${camel_file}\"/" $file + done +} +IFS=$'\n' +types=$(getTypes | sort | uniq) +# echo $types +# for ctype in $types; do +# ctype=$(echo $ctype | sed -r "s/([^\ 0-9])([^\ 0-9]+)\ ?/\1\L\2/g") +# echo $ctype +# done +for target in $(find include/ src/ test/ -type f); do + for ctype in $types; do + oldtype=$ctype + ctype=$(echo $ctype | sed -r "s/([^\ 0-9])([^\ 0-9]+)\ ?/\1\L\2/g") + sed -ri "s/(Capture|Feature|Processor|Landmark|Factor|Sensor)(.*)\"${oldtype}\"/\1\2\"\1${ctype}\"/" $target + done done \ No newline at end of file