diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 487fac3754c1960e6979cc19fdc87a209fea5e6f..04e27bd4975af1f4839791cc48bcf4acaff815a5 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -96,7 +96,7 @@ int main(int argc, char** argv)
// SENSOR + PROCESSOR ODOM 3D
SensorBasePtr sen1_ptr = wolf_problem_ptr_->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D.yaml");
- ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorParamsOdom3D>();
prc_odom3D_params->max_time_span = 1.9999;
prc_odom3D_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_odom3D_params->dist_traveled = 1000000000;
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index 185406733ff2d9f5f13520d3a7de08e4c2539952..f5affb647c73cac0b2f5ab29eca4e9ec34b7889c 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -118,7 +118,7 @@ int main(int argc, char** argv)
// SENSOR + PROCESSOR ODOM 3D
SensorBasePtr sen1_ptr = wolf_problem_ptr_->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D_HQ.yaml");
- ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorParamsOdom3D>();
prc_odom3D_params->max_time_span = 20.9999;
prc_odom3D_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_odom3D_params->dist_traveled = 1000000000;
diff --git a/src/processor_odom_3D.cpp b/src/processor_odom_3D.cpp
index 70b31a4430236a4c07b4b5430585bebd3c66c40c..38c337fd8e19a0c26bf590ab85b98ab263b5da4b 100644
--- a/src/processor_odom_3D.cpp
+++ b/src/processor_odom_3D.cpp
@@ -2,12 +2,12 @@
namespace wolf
{
-ProcessorOdom3D::ProcessorOdom3D(ProcessorOdom3DParamsPtr _params, SensorOdom3DPtr _sensor_ptr) :
+ProcessorOdom3D::ProcessorOdom3D(const ProcessorParamsOdom3D& _params, SensorOdom3DPtr _sensor_ptr) :
ProcessorMotion("ODOM 3D", 7, 7, 6, 6),
- max_time_span_ (_params ? _params ->max_time_span : 1.0 ),
- max_buff_length_(_params ? _params ->max_buff_length : 10 ),
- dist_traveled_ (_params ? _params ->dist_traveled : 1.0 ),
- angle_turned_ (_params ? _params ->angle_turned : 0.5 ),
+ max_time_span_ ( _params.max_time_span ),
+ max_buff_length_( _params.max_buff_length ),
+ dist_traveled_ ( _params.dist_traveled ),
+ angle_turned_ ( _params.angle_turned ),
p1_(nullptr), p2_(nullptr), p_out_(nullptr),
q1_(nullptr), q2_(nullptr), q_out_(nullptr)
{
@@ -261,12 +261,12 @@ Motion ProcessorOdom3D::interpolate(const Motion& _motion_ref, Motion& _motion_s
ProcessorBasePtr ProcessorOdom3D::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr _sen_ptr)
{
// cast inputs to the correct type
- std::shared_ptr<ProcessorOdom3DParams> prc_odo_params = std::static_pointer_cast<ProcessorOdom3DParams>(_params);
+ std::shared_ptr<ProcessorParamsOdom3D> prc_odo_params = std::static_pointer_cast<ProcessorParamsOdom3D>(_params);
SensorOdom3DPtr sen_odo =std::static_pointer_cast<SensorOdom3D>(_sen_ptr);
// construct processor
- ProcessorOdom3DPtr prc_odo = std::make_shared<ProcessorOdom3D>(prc_odo_params, sen_odo);
+ ProcessorOdom3DPtr prc_odo = std::make_shared<ProcessorOdom3D>(*prc_odo_params, sen_odo);
// setup processor
prc_odo->setName(_unique_name);
diff --git a/src/processor_odom_3D.h b/src/processor_odom_3D.h
index 0827cd3bdd1b63f4910ab911310f355f52e359e7..1dbbf2ad3658c48cf5cf0bc257ade424d6e1f9b2 100644
--- a/src/processor_odom_3D.h
+++ b/src/processor_odom_3D.h
@@ -18,25 +18,14 @@
namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorOdom3DParams);
+WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom3D);
-struct ProcessorOdom3DParams : public ProcessorParamsBase
+struct ProcessorParamsOdom3D : public ProcessorParamsBase
{
- Scalar max_time_span;
- Size max_buff_length;
- Scalar dist_traveled;
- Scalar angle_turned;
-
-
- ProcessorOdom3DParams() :
- max_time_span(0),
- max_buff_length(0),
- dist_traveled(0),
- angle_turned(0)
- {
- type = "ODOM 3D";
- name = "";
- }
+ Scalar max_time_span = 1.0;
+ Size max_buff_length = 10;
+ Scalar dist_traveled = 1.0;
+ Scalar angle_turned = 0.5;
};
@@ -67,7 +56,7 @@ WOLF_PTR_TYPEDEFS(ProcessorOdom3D);
class ProcessorOdom3D : public ProcessorMotion
{
public:
- ProcessorOdom3D(ProcessorOdom3DParamsPtr _params = nullptr, SensorOdom3DPtr _sensor_ptr = nullptr);
+ ProcessorOdom3D(const ProcessorParamsOdom3D& _params = ProcessorParamsOdom3D(), SensorOdom3DPtr _sensor_ptr = nullptr);
virtual ~ProcessorOdom3D();
void setup(SensorOdom3DPtr sen_ptr);
diff --git a/src/serialization/cereal/serialization_processor_odom3d_params.h b/src/serialization/cereal/serialization_processor_odom3d_params.h
index 06770f759cbcf96ca77faf3d83a2a16f0822db04..9b658a233d1832f914a2986d133ab61207e3ff52 100644
--- a/src/serialization/cereal/serialization_processor_odom3d_params.h
+++ b/src/serialization/cereal/serialization_processor_odom3d_params.h
@@ -8,7 +8,7 @@
namespace cereal {
template <class Archive>
-void serialize(Archive& ar, wolf::ProcessorOdom3DParams& o,
+void serialize(Archive& ar, wolf::ProcessorParamsOdom3D& o,
std::uint32_t const /*version*/)
{
ar( cereal::make_nvp("ProcessorParamsBase",
@@ -22,6 +22,6 @@ void serialize(Archive& ar, wolf::ProcessorOdom3DParams& o,
} // namespace cereal
-CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorOdom3DParams, "ProcessorOdom3DParams")
+CEREAL_REGISTER_TYPE_WITH_NAME(wolf::ProcessorParamsOdom3D, "ProcessorOdom3DParams")
#endif /* _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_ */
diff --git a/src/test/gtest_constraint_IMU.cpp b/src/test/gtest_constraint_IMU.cpp
index 3accb792b20b23f5f7d5e6b31fbf0a7dfd7fd662..a507efbc0052ddf42863077c639f3448d787cc54 100644
--- a/src/test/gtest_constraint_IMU.cpp
+++ b/src/test/gtest_constraint_IMU.cpp
@@ -887,7 +887,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRot : public testing::Test
WOLF_TRACE("IMU cov: ", sensor_imu->getNoiseCov().diagonal().transpose());
WOLF_TRACE("ODO cov: ", sensor_odo->getNoiseCov().diagonal().transpose());
- ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorParamsOdom3D>();
prc_odom3D_params->max_time_span = 0.0099;
prc_odom3D_params->max_buff_length = 1000; //make it very high so that this condition will not pass
prc_odom3D_params->dist_traveled = 1000;
@@ -1064,7 +1064,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotY : public testing::Test
// SENSOR + PROCESSOR ODOM 3D
SensorBasePtr sen1_ptr = wolf_problem_ptr_->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D_HQ.yaml");
- ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorParamsOdom3D>();
prc_odom3D_params->max_time_span = 0.9999;
prc_odom3D_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_odom3D_params->dist_traveled = 1000000000;
@@ -1205,7 +1205,7 @@ class ConstraintIMU_ODOM_biasTest_Move_NonNullBiasRotXY : public testing::Test
// SENSOR + PROCESSOR ODOM 3D
SensorBasePtr sen1_ptr = wolf_problem_ptr_->installSensor("ODOM 3D", "odom", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_odom_3D_HQ.yaml");
- ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorOdom3DParamsPtr prc_odom3D_params = std::make_shared<ProcessorParamsOdom3D>();
prc_odom3D_params->max_time_span = 0.9999;
prc_odom3D_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_odom3D_params->dist_traveled = 1000000000;
diff --git a/src/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp b/src/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp
index ed2aaab3b9b257a708b680db2e38d7b6eb51d592..7a84ef3ffd56301409146ca855e313eef20d79f4 100644
--- a/src/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp
+++ b/src/test/serialization/cereal/gtest_serialization_processor_odom3d_params.cpp
@@ -31,7 +31,7 @@ public:
const std::string path_to_io = "/tmp/";
- wolf::ProcessorOdom3DParams nb_;
+ wolf::ProcessorParamsOdom3D nb_;
};
TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
@@ -39,7 +39,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
{
const std::string filename(path_to_io + "params_odom3d_serialization.xml");
- wolf::ProcessorOdom3DParams nb_save;
+ wolf::ProcessorParamsOdom3D nb_save;
nb_save.name = "NAME2";
//nb_.type = "ODOM 3D";
@@ -51,7 +51,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::save( filename, nb_, nb_save, 10 ) );
{
- wolf::ProcessorOdom3DParams nb_load;
+ wolf::ProcessorParamsOdom3D nb_load;
ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
@@ -62,7 +62,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_EQ(nb_load.dist_traveled, nb_.dist_traveled);
ASSERT_EQ(nb_load.angle_turned, nb_.angle_turned);
- wolf::ProcessorOdom3DParams nb_load0, nb_load1;
+ wolf::ProcessorParamsOdom3D nb_load0, nb_load1;
int myint;
ASSERT_NO_THROW( wolf::load( filename, nb_load0, nb_load1, myint ) );
@@ -95,7 +95,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
{
wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorOdom3DParams>(nb_);
+ std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
ASSERT_NO_THROW( wolf::save( filename, nb ) );
}
@@ -106,7 +106,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::load( filename, nb ) );
wolf::ProcessorOdom3DParamsPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorOdom3DParams>(nb);
+ std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
ASSERT_TRUE(nb_cast != nullptr);
@@ -130,7 +130,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::save( filename, nb_ ) );
- wolf::ProcessorOdom3DParams nb_load;
+ wolf::ProcessorParamsOdom3D nb_load;
ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
@@ -153,7 +153,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
{
wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorOdom3DParams>(nb_);
+ std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
ASSERT_NO_THROW( wolf::save( filename, nb ) );
}
@@ -164,7 +164,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::load( filename, nb ) );
wolf::ProcessorOdom3DParamsPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorOdom3DParams>(nb);
+ std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
ASSERT_TRUE(nb_cast != nullptr);
@@ -188,7 +188,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::save( filename, nb_ ) );
- wolf::ProcessorOdom3DParams nb_load;
+ wolf::ProcessorParamsOdom3D nb_load;
ASSERT_NO_THROW( wolf::load( filename, nb_load ) );
@@ -211,7 +211,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
{
wolf::ProcessorParamsBasePtr nb =
- std::make_shared<wolf::ProcessorOdom3DParams>(nb_);
+ std::make_shared<wolf::ProcessorParamsOdom3D>(nb_);
ASSERT_NO_THROW( wolf::save( filename, nb ) );
}
@@ -222,7 +222,7 @@ TEST_F(WolfTestCerealSerializationProcessorOdom3DParams,
ASSERT_NO_THROW( wolf::load( filename, nb ) );
wolf::ProcessorOdom3DParamsPtr nb_cast =
- std::dynamic_pointer_cast<wolf::ProcessorOdom3DParams>(nb);
+ std::dynamic_pointer_cast<wolf::ProcessorParamsOdom3D>(nb);
ASSERT_TRUE(nb_cast != nullptr);
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index a8fbce5997d01b90abc2340fddb2556f4bfc2f91..450fec00b84ee22c1013640c168260fa229c7c11 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -34,7 +34,7 @@ static ProcessorParamsBasePtr createProcessorOdom3DParams(const std::string & _f
YAML::Node kf_vote = config["keyframe vote"];
- ProcessorOdom3DParamsPtr params = std::make_shared<ProcessorOdom3DParams>();
+ ProcessorParamsOdom3DPtr params = std::make_shared<ProcessorParamsOdom3D>();
params->type = processor_type;
params->name = processor_name;