From b37b0a961e074d39f1d1dd06d45dca631b1bde7d Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 27 Apr 2022 22:06:04 +0200
Subject: [PATCH] Rename getSensor(sensor name) --> findSensor(sensor name)

---
 demos/hello_wolf/hello_wolf_autoconf.cpp             | 4 ++--
 include/core/problem/problem.h                       | 2 +-
 src/problem/problem.cpp                              | 6 +++---
 test/gtest_tree_manager_sliding_window_dual_rate.cpp | 4 ++--
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index db934ca13..272142450 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -138,8 +138,8 @@ int main()
     SolverManagerPtr ceres = FactorySolver::create("SolverCeres", problem, server);
 
     // recover sensor pointers and other stuff for later use (access by sensor name)
-    SensorBasePtr sensor_odo    = problem->getSensor("sen odom");
-    SensorBasePtr sensor_rb     = problem->getSensor("sen rb");
+    SensorBasePtr sensor_odo    = problem->findSensor("sen odom");
+    SensorBasePtr sensor_rb     = problem->findSensor("sen rb");
 
     // APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
     TimeStamp     t(0.0);
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 7405ae832..d85a6503b 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -151,7 +151,7 @@ class Problem : public std::enable_shared_from_this<Problem>
         /** \brief get a sensor pointer by its name
          * \param _sensor_name The sensor name, as it was installed with installSensor()
          */
-        SensorBasePtr getSensor(const std::string& _sensor_name) const;
+        SensorBasePtr findSensor(const std::string& _sensor_name) const;
 
         /** \brief Factory method to install (create, and add to sensor) processors only from its properties
          *
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1e5c88a2d..3c731dc3e 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -300,7 +300,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
                                            const std::string& _corresponding_sensor_name, //
                                            const std::string& _params_filename)
 {
-    SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+    SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
     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!");
     if (_params_filename == "")
@@ -318,7 +318,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
                                            const std::string& _corresponding_sensor_name, //
                                            const ParamsServer& _server)
 {
-    SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
+    SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
     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!");
 
@@ -335,7 +335,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
     return prc_ptr;
 }
 
-SensorBasePtr Problem::getSensor(const std::string& _sensor_name) const
+SensorBasePtr Problem::findSensor(const std::string& _sensor_name) const
 {
     auto sen_it = std::find_if(getHardware()->getSensorList().begin(),
                                getHardware()->getSensorList().end(),
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index e394a7c59..448fc0d93 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1050,11 +1050,11 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowWithProcessor)
     TimeStamp t(0.0);
     double dt = 1;
     CaptureMotionPtr capture = std::make_shared<CaptureOdom3d>(t,
-                                                               problem->getSensor("odom"),
+                                                               problem->findSensor("odom"),
                                                                data,
                                                                data_cov);
     CaptureMotionPtr capture_bl = std::make_shared<CaptureOdom3d>(t,
-                                                                  problem_bl->getSensor("odom"),
+                                                                  problem_bl->findSensor("odom"),
                                                                   data,
                                                                   data_cov);
 
-- 
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