[skip ci] adapting to yaml node and pragma once

CMakeLists.txt

@@ -395,7 +395,7 @@ endif()
 #Link the created libraries
 #=============================================================
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC ${CMAKE_THREAD_LIBS_INIT} dl)
-TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC yaml-cpp)
+TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC yaml-schema-cpp)
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC Eigen3::Eigen)
 TARGET_LINK_LIBRARIES(${PLUGIN_NAME} PUBLIC spdlog::spdlog)
 IF (Ceres_FOUND)

demos/hello_wolf/capture_range_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * capture_range_bearing.h
- *
- *  Created on: Nov 30, 2017
- *      Author: jsola
- */
-
-#ifndef HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
-#define HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
+#pragma once
 
 #include "core/capture/capture_base.h"
 
@@ -99,6 +91,4 @@ inline Eigen::Vector2d CaptureRangeBearing::getRangeBearing(int _i) const
     return Vector2d(ranges_(_i), bearings_(_i));
 }
 
-} /* namespace wolf */
-
-#endif /* HELLO_WOLF_CAPTURE_RANGE_BEARING_H_ */
+} /* namespace wolf */
\ No newline at end of file

demos/hello_wolf/factor_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * FactorBearing.h
- *
- *  Created on: Nov 30, 2017
- *      Author: jsola
- */
-
-#ifndef HELLO_WOLF_FACTOR_BEARING_H_
-#define HELLO_WOLF_FACTOR_BEARING_H_
+#pragma once
 
 #include "core/factor/factor_autodiff.h"
 
@@ -123,6 +115,4 @@ inline bool FactorBearing::operator ()( const T* const _p_w_r,
     return true;
 }
 
-} // namespace wolf
-
-#endif /* HELLO_WOLF_FACTOR_BEARING_H_ */
+} // namespace wolf
\ No newline at end of file

demos/hello_wolf/factor_range_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/**
- * \file factor_range_bearing.h
- *
- *  Created on: Dec 1, 2017
- *      \author: jsola
- */
-
-#ifndef HELLO_WOLF_FACTOR_RANGE_BEARING_H_
-#define HELLO_WOLF_FACTOR_RANGE_BEARING_H_
+#pragma once
 
 #include "core/factor/factor_autodiff.h"
 
@@ -155,5 +147,4 @@ inline bool FactorRangeBearing::operator ()(const T* const _p_w_r, // robot posi
     return true;
 }
 
-} // namespace wolf
-#endif /* HELLO_WOLF_FACTOR_RANGE_BEARING_H_ */
+} // namespace wolf
\ No newline at end of file

demos/hello_wolf/feature_range_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * FeatureRangeBearing2d.h
- *
- *  Created on: Nov 30, 2017
- *      Author: jsola
- */
-
-#ifndef HELLO_WOLF_FEATURE_RANGE_BEARING_H_
-#define HELLO_WOLF_FEATURE_RANGE_BEARING_H_
+#pragma once
 
 #include "core/feature/feature_base.h"
 
@@ -43,6 +35,4 @@ class FeatureRangeBearing : public FeatureBase
         ~FeatureRangeBearing() override;
 };
 
-} // namespace wolf
-
-#endif /* HELLO_WOLF_FEATURE_RANGE_BEARING_H_ */
+} // namespace wolf
\ No newline at end of file

demos/hello_wolf/landmark_point_2d.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/**
- * \file landmark_point_2d.h
- *
- *  Created on: Dec 4, 2017
- *      \author: jsola
- */
-
-#ifndef HELLO_WOLF_LANDMARK_POINT_2d_H_
-#define HELLO_WOLF_LANDMARK_POINT_2d_H_
+#pragma once
 
 #include "core/landmark/landmark_base.h"
 
@@ -43,6 +35,4 @@ class LandmarkPoint2d : public LandmarkBase
         ~LandmarkPoint2d() override;
 };
 
-} /* namespace wolf */
-
-#endif /* HELLO_WOLF_LANDMARK_POINT_2d_H_ */
+} /* namespace wolf */
\ No newline at end of file

demos/hello_wolf/processor_range_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * ProcessorRangeBearing.h
- *
- *  Created on: Nov 30, 2017
- *      Author: jsola
- */
-
-#ifndef HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
-#define HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
+#pragma once
 
 #include "core/processor/processor_base.h"
 #include "sensor_range_bearing.h"
@@ -117,6 +109,4 @@ inline void ProcessorRangeBearing::configure(SensorBasePtr _sensor)
     H_r_s = transform(_sensor->getP()->getState(), _sensor->getO()->getState());
 }
 
-} /* namespace wolf */
-
-#endif /* HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_ */
+} /* namespace wolf */
\ No newline at end of file

demos/hello_wolf/sensor_range_bearing.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * SensorRangeBearing.h
- *
- *  Created on: Nov 30, 2017
- *      Author: jsola
- */
-
-#ifndef HELLO_WOLF_SENSOR_RANGE_BEARING_H_
-#define HELLO_WOLF_SENSOR_RANGE_BEARING_H_
+#pragma once
 
 #include "core/sensor/sensor_base.h"
 #include "core/utils/params_server.h"
@@ -79,6 +71,4 @@ class SensorRangeBearing : public SensorBase
         Eigen::MatrixXd computeNoiseCov(const Eigen::VectorXd & _data) const override;
 };
 
-} /* namespace wolf */
-
-#endif /* HELLO_WOLF_SENSOR_RANGE_BEARING_H_ */
+} /* namespace wolf */
\ No newline at end of file

include/core/capture/capture_base.h

@@ -19,8 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef CAPTURE_BASE_H_
-#define CAPTURE_BASE_H_
+#pragma once
 
 // Forward declarations for node templates
 namespace wolf{
@@ -282,6 +281,4 @@ inline void CaptureBase::setTimeStampToNow()
     time_stamp_.setToNow();
 }
 
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file

include/core/capture/capture_diff_drive.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/**
- * \file diff_drive_tools.h
- *
- *  Created on: Oct 20, 2016
- *  \author: Jeremie Deray
- */
-
-#ifndef CAPTURE_DIFF_DRIVE_H_
-#define CAPTURE_DIFF_DRIVE_H_
+#pragma once
 
 //wolf includes
 #include "core/capture/capture_motion.h"
@@ -61,6 +53,4 @@ public:
         ~CaptureDiffDrive() override = default;
 };
 
-} // namespace wolf
-
-#endif /* CAPTURE_DIFF_DRIVE_H_ */
+} // namespace wolf
\ No newline at end of file

include/core/capture/capture_motion.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/**
- * \file capture_motion.h
- *
- *  Created on: Mar 16, 2016
- *      \author: jsola
- */
-
-#ifndef SRC_CAPTURE_MOTION_H_
-#define SRC_CAPTURE_MOTION_H_
+#pragma once
 
 // Wolf includes
 #include "core/capture/capture_base.h"
@@ -221,6 +213,4 @@ inline MatrixXd CaptureMotion::getDeltaPreintCov(const TimeStamp& _ts) const
     return getBuffer().getMotion(_ts).delta_integr_cov_;
 }
 
-} // namespace wolf
-
-#endif /* SRC_CAPTURE_MOTION_H_ */
+} // namespace wolf
\ No newline at end of file

include/core/capture/capture_odom_2d.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * capture_odom_2d.h
- *
- *  Created on: Oct 16, 2017
- *      Author: jsola
- */
-
-#ifndef CAPTURE_ODOM_2d_H_
-#define CAPTURE_ODOM_2d_H_
+#pragma once
 
 #include "core/capture/capture_motion.h"
 
@@ -56,6 +48,4 @@ class CaptureOdom2d : public CaptureMotion
 
 };
 
-} /* namespace wolf */
-
-#endif /* CAPTURE_ODOM_2d_H_ */
+} /* namespace wolf */
\ No newline at end of file

include/core/capture/capture_odom_3d.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * capture_odom_3d.h
- *
- *  Created on: Oct 16, 2017
- *      Author: jsola
- */
-
-#ifndef CAPTURE_ODOM_3d_H_
-#define CAPTURE_ODOM_3d_H_
+#pragma once
 
 #include "core/capture/capture_motion.h"
 
@@ -56,6 +48,4 @@ class CaptureOdom3d : public CaptureMotion
 
 };
 
-} /* namespace wolf */
-
-#endif /* CAPTURE_ODOM_3d_H_ */
+} /* namespace wolf */
\ No newline at end of file

include/core/capture/capture_pose.h

@@ -19,8 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef CAPTURE_POSE_H_
-#define CAPTURE_POSE_H_
+#pragma once
 
 //Wolf includes
 #include "core/capture/capture_base.h"
@@ -54,5 +53,4 @@ class CapturePose : public CaptureBase
 
 };
 
-} //namespace wolf
-#endif
+} //namespace wolf
\ No newline at end of file

include/core/capture/capture_void.h

@@ -19,8 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef CAPTURE_VOID_H_
-#define CAPTURE_VOID_H_
+#pragma once
 
 //Wolf includes
 #include "core/capture/capture_base.h"
@@ -39,6 +38,4 @@ class CaptureVoid : public CaptureBase
 
 };
 
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file

include/core/ceres_wrapper/cost_function_wrapper.h

@@ -19,8 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef TRUNK_SRC_COST_FUNCTION_WRAPPER_H_
-#define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_
+#pragma once
 
 // WOLF
 #include "core/common/wolf.h"
@@ -75,6 +74,4 @@ inline FactorBasePtr CostFunctionWrapper::getFactor() const
     return factor_ptr_;
 }
 
-} // namespace wolf
-
-#endif /* TRUNK_SRC_COST_FUNCTION_WRAPPER_H_ */
+} // namespace wolf
\ No newline at end of file

include/core/ceres_wrapper/create_numeric_diff_cost_function.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * create_numeric_diff_cost_function.h
- *
- *  Created on: Apr 5, 2016
- *      Author: jvallve
- */
-
-#ifndef SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
-#define SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
+#pragma once
 
 #include "ceres/cost_function.h"
 #include "ceres/numeric_diff_cost_function.h"
@@ -66,6 +58,4 @@ inline std::shared_ptr<ceres::CostFunction> createNumericDiffCostFunction(Factor
 //    }
 }
 
-} // namespace wolf
-
-#endif /* SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_ */
+} // namespace wolf
\ No newline at end of file

include/core/ceres_wrapper/iteration_update_callback.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * iteration_callback.h
- *
- *  Created on: Jun 15, 2020
- *      Author: joanvallve
- */
-
-#ifndef INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_
-#define INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_
+#pragma once
 
 #include "core/problem/problem.h"
 #include "ceres/ceres.h"
@@ -76,6 +68,4 @@ class IterationUpdateCallback : public ceres::IterationCallback
         bool verbose_;
 };
 
-}
-
-#endif /* INCLUDE_CORE_CERES_WRAPPER_ITERATION_UPDATE_CALLBACK_H_ */
+}
\ No newline at end of file

include/core/ceres_wrapper/local_parametrization_wrapper.h

@@ -19,8 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#ifndef LOCAL_PARAMETRIZATION_WRAPPER_H_
-#define LOCAL_PARAMETRIZATION_WRAPPER_H_
+#pragma once
 
 // Fwd refs
 namespace wolf{
@@ -83,6 +82,4 @@ inline LocalParametrizationBasePtr LocalParametrizationWrapper::getLocalParametr
     return local_parametrization_ptr_;
 }
 
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file

include/core/ceres_wrapper/qr_manager.h

@@ -19,15 +19,7 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-/*
- * qr_manager.h
- *
- *  Created on: Jun 7, 2017
- *      Author: jvallve
- */
-
-#ifndef SRC_CERES_WRAPPER_QR_MANAGER_H_
-#define SRC_CERES_WRAPPER_QR_MANAGER_H_
+#pragma once
 
 #include "core/solver/solver_manager.h"
 #include "core/solver_suitesparse/sparse_utils.h"
@@ -78,6 +70,4 @@ class QRManager : public SolverManager
         void relinearizeFactor(FactorBasePtr _fac_ptr);
 };
 
-} /* namespace wolf */
-
-#endif /* SRC_CERES_WRAPPER_QR_MANAGER_H_ */
+} /* namespace wolf */
\ No newline at end of file