diff --git a/CMakeLists.txt b/CMakeLists.txt
index 16f94577c6d285823875434038935bbcb9f1694a..d7de1cdfc1c79a7f853c38f0fb77dbe9afe1b35b 100644
--- a/CMakeLists.txt
+++ b/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)
diff --git a/demos/hello_wolf/capture_range_bearing.h b/demos/hello_wolf/capture_range_bearing.h
index 03803089d8a68d9ab14fd31aee123c6bf04144f3..a57f78a8f59a69af26911730632c744896e3ab12 100644
--- a/demos/hello_wolf/capture_range_bearing.h
+++ b/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
diff --git a/demos/hello_wolf/factor_bearing.h b/demos/hello_wolf/factor_bearing.h
index f790a24839bb6c63f1a09703fe283a6f48c11949..8e62a6470407ab3002b026b0ecb50b8cec910aea 100644
--- a/demos/hello_wolf/factor_bearing.h
+++ b/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
diff --git a/demos/hello_wolf/factor_range_bearing.h b/demos/hello_wolf/factor_range_bearing.h
index 4495682647b7b1ddcac24726e2bfbb86df1e343a..cc74186c93823f2735c7c0082d2ae2317dda9ee7 100644
--- a/demos/hello_wolf/factor_range_bearing.h
+++ b/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
diff --git a/demos/hello_wolf/feature_range_bearing.h b/demos/hello_wolf/feature_range_bearing.h
index 24123e4df893acc29337713877bc342db39563bc..acb5ac8d04dc891d7b97b6d9c0be92b57fbf0104 100644
--- a/demos/hello_wolf/feature_range_bearing.h
+++ b/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
diff --git a/demos/hello_wolf/landmark_point_2d.h b/demos/hello_wolf/landmark_point_2d.h
index 78aeafe9bf28b7abbd81f937db60d96da8f8c601..ce0eec818479f2f45c294039bf0256f78dda0038 100644
--- a/demos/hello_wolf/landmark_point_2d.h
+++ b/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
diff --git a/demos/hello_wolf/processor_range_bearing.h b/demos/hello_wolf/processor_range_bearing.h
index ffd8b9b9c754aa0938b8d158eabedec373706577..516876ce75f0b6c8f0229b87c4b71619d3a2c2c1 100644
--- a/demos/hello_wolf/processor_range_bearing.h
+++ b/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
diff --git a/demos/hello_wolf/sensor_range_bearing.h b/demos/hello_wolf/sensor_range_bearing.h
index 1aa70ac26a69dd9f8f706c3023ef62c87344ded4..263b5813a76781d59ccd881b3d389e1abbe1bea7 100644
--- a/demos/hello_wolf/sensor_range_bearing.h
+++ b/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
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index b946f35b770aabb02f7f237933221131b30afdbc..b7f24d4a0f33270614a247d51d26181fc7fe6052 100644
--- a/include/core/capture/capture_base.h
+++ b/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
diff --git a/include/core/capture/capture_diff_drive.h b/include/core/capture/capture_diff_drive.h
index a41e7dec78fa134b7a09fe99740daaccff42ed7a..45ead93cdd73c744290f3c3a2d9bfd91ae43052b 100644
--- a/include/core/capture/capture_diff_drive.h
+++ b/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
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 719c1f800cec4ae0e5d019f56a09b656b2c3f9f5..acc911feeacf9c524f9d930fcf6af0d4766fb637 100644
--- a/include/core/capture/capture_motion.h
+++ b/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
diff --git a/include/core/capture/capture_odom_2d.h b/include/core/capture/capture_odom_2d.h
index 8bc18706d5fb6122d9bc7e6262f8879f158bef60..e580ffdbb4956923eded1103ea37dd2f6fd48c1a 100644
--- a/include/core/capture/capture_odom_2d.h
+++ b/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
diff --git a/include/core/capture/capture_odom_3d.h b/include/core/capture/capture_odom_3d.h
index 0b6deb6a8f05cb0769a9065b57c190f693c78b62..5db3da878e3a662ae16ecf649cd76b94155b5086 100644
--- a/include/core/capture/capture_odom_3d.h
+++ b/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
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index 15b32f85ea340cc4a83a9745e54ce647f15fc250..e7313e1f5e73851978574ba757e826400ef44e4c 100644
--- a/include/core/capture/capture_pose.h
+++ b/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
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index 1adb08e43512af44f3d04951a8c3b27f685a9a43..4c388f387d8e09e6df92e7bc5f4ca76cfb1b8ffc 100644
--- a/include/core/capture/capture_void.h
+++ b/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
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 9bca9394f7f3bd99e1bd2846f07d15e3bdc776e9..43b59c7f67def7d3cde93307203f877f94cbcd98 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/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
diff --git a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index 42bf8a7a9abd1339a26b58dd0dc0a195faf8957d..35886e5cf9c6979f3f1084859fa70f3f65664bfd 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/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
diff --git a/include/core/ceres_wrapper/iteration_update_callback.h b/include/core/ceres_wrapper/iteration_update_callback.h
index 6cf6179ff8c9d5e7543a5794210b65bd30b75049..2e223ed97e53fd7857192f16875f2f5fb7c46720 100644
--- a/include/core/ceres_wrapper/iteration_update_callback.h
+++ b/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
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index 51d10c49764e8386727b1acd17aab4423bbe071c..4078a974b5699520d19d6e65c650a994208d0809 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/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
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index d859b6a655825809c35de4808c38af0a7dbcd32e..73906bb8b8af85bc9b353d655384ef29e673af95 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/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
diff --git a/include/core/ceres_wrapper/solver_ceres.h b/include/core/ceres_wrapper/solver_ceres.h
index da0ac085504dfe02d64ee7c0b2c4d30b0b029adb..ed7269333147655487ae83e2e0e4b24485028165 100644
--- a/include/core/ceres_wrapper/solver_ceres.h
+++ b/include/core/ceres_wrapper/solver_ceres.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef CERES_MANAGER_H_
-#define CERES_MANAGER_H_
+#pragma once
//Ceres includes
#include "ceres/jet.h"
@@ -55,25 +54,25 @@ struct ParamsCeres : public ParamsSolver
loadHardcodedValues();
}
- ParamsCeres(std::string _unique_name, const ParamsServer& _server) :
- ParamsSolver(_unique_name, _server)
+ ParamsCeres(const YAML::Node& _input_node) :
+ ParamsSolver(_input_node)
{
loadHardcodedValues();
// interrupt solver whenever the problem is updated (via ceres::iterationCallback)
- interrupt_on_problem_change = _server.getParam<bool>(prefix + "interrupt_on_problem_change");
+ interrupt_on_problem_change = _input_node["interrupt_on_problem_change"].as<bool>();
if (interrupt_on_problem_change)
- min_num_iterations = _server.getParam<int>(prefix + "min_num_iterations");
+ min_num_iterations = _input_node["min_num_iterations"].as<int>();
// CERES SOLVER OPTIONS
- solver_options.max_num_iterations = _server.getParam<int>(prefix + "max_num_iterations");
- solver_options.function_tolerance = _server.getParam<double>(prefix + "function_tolerance");
- solver_options.gradient_tolerance = _server.getParam<double>(prefix + "gradient_tolerance");
- solver_options.num_threads = _server.getParam<int>(prefix + "n_threads");
+ solver_options.max_num_iterations = _input_node["max_num_iterations"].as<int>();
+ solver_options.function_tolerance = _input_node["function_tolerance"].as<double>();
+ solver_options.gradient_tolerance = _input_node["gradient_tolerance"].as<double>();
+ solver_options.num_threads = _input_node["n_threads"].as<int>();
covariance_options.num_threads = solver_options.num_threads;
// minimizer type
- std::string minimizer = _server.getParam<std::string>(prefix + "minimizer");
+ std::string minimizer = _input_node["minimizer"].as<std::string>();
if (minimizer == "LEVENBERG_MARQUARDT" or minimizer == "levenberg_marquardt")
{
solver_options.minimizer_type = ceres::TRUST_REGION;
@@ -102,9 +101,9 @@ struct ParamsCeres : public ParamsSolver
// specific options for TRUST REGION
if (solver_options.minimizer_type == ceres::TRUST_REGION)
{
- solver_options.use_nonmonotonic_steps = _server.getParam<bool>(prefix + "use_nonmonotonic_steps");
+ solver_options.use_nonmonotonic_steps = _input_node["use_nonmonotonic_steps"].as<bool>();
if (solver_options.use_nonmonotonic_steps)
- solver_options.max_consecutive_nonmonotonic_steps = _server.getParam<int>(prefix + "max_consecutive_nonmonotonic_steps");
+ solver_options.max_consecutive_nonmonotonic_steps = _input_node["max_consecutive_nonmonotonic_steps"].as<int>();
}
}
@@ -262,6 +261,4 @@ inline int SolverCeres::numFactorsDerived() const
return ceres_problem_->NumResidualBlocks();
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/ceres_wrapper/sparse_utils.h b/include/core/ceres_wrapper/sparse_utils.h
index e0d70f26f95c2d5dfd10131e48103586c52fd20d..9c2e6422e84a8747ec8a468f7ba7c1fca1089394 100644
--- a/include/core/ceres_wrapper/sparse_utils.h
+++ b/include/core/ceres_wrapper/sparse_utils.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * sparse_utils.h
- *
- * Created on: Jul 2, 2015
- * Author: jvallve
- */
-
-#ifndef SPARSE_UTILS_H_
-#define SPARSE_UTILS_H_
+#pragma once
// eigen includes
//#include <eigen3/Eigen/Sparse>
@@ -124,5 +116,4 @@ void getDiagonalBlocks(const Eigen::SparseMatrix<double,_Options,_StorageIndex>&
diag_.push_back(Eigen::MatrixXd(_M.block(i,i,dim,dim)));
}
-} // namespace wolf
-#endif /* SPARSE_UTILS_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index c73d042f6599a2e386a19b2d10fed02bf8dd3aa8..bd09e14228352eda82cee813692308c23cc7e2aa 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factory.h
- *
- * Created on: May 16, 2016
- * \author: jsola
- */
-
-#ifndef FACTORY_H_
-#define FACTORY_H_
+#pragma once
// wolf
#include "core/common/wolf.h"
@@ -436,6 +428,4 @@ inline std::string FactoryLandmark::getClass() const
# define UNUSED(x) x
#endif
-} /* namespace wolf */
-
-#endif /* FACTORY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 1f7cf9eaff36bdbae80a8802981ea88f9ba019a6..31ae60e6c388ac9113db10ea2dfe33718b709cae 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef NODE_BASE_H_
-#define NODE_BASE_H_
+#pragma once
// Wolf includes
#include "core/common/wolf.h"
@@ -176,6 +175,4 @@ inline void NodeBase::setProblem(ProblemPtr _prob_ptr)
problem_ptr_ = _prob_ptr;
}
-} // namespace wolf
-
-#endif /* NODE_BASE_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 51825a75307752c7ee88447dd14008e435c5a9a1..168af730ae84ff7ff832af732996f0fa702f3c19 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -19,27 +19,94 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PARAMS_BASE_H_
-#define PARAMS_BASE_H_
+#pragma once
-#include "core/utils/params_server.h"
-#include "yaml-schema-cpp/yaml_server.hpp"
+#include "yaml-cpp/yaml.h"
-namespace wolf {
- struct ParamsBase
+namespace wolf
+{
+
+struct ParamsBase
+{
+ ParamsBase() = default;
+ ParamsBase(const YAML::Node& _n)
{
- ParamsBase() = default;
- ParamsBase(std::string _unique_name, const ParamsServer&)
- {
- //
- }
- ParamsBase(const YAML::Node& _n)
- {
- //
- }
-
- virtual ~ParamsBase() = default;
- virtual std::string print() const = 0;
- };
-}
-#endif
+ //
+ }
+
+ virtual ~ParamsBase() = default;
+ virtual std::string print() const = 0;
+};
+
+template<typename Derived>
+std::string toString(const Eigen::DenseBase<Derived>& mat)
+{
+ std::stringstream ss;
+ if (mat.cols() == 1)
+ ss << mat.transpose();
+ else
+ ss << std::endl << mat;
+ return ss.str();
+}
+
+std::string toString(bool _arg);
+std::string toString(int _arg);
+std::string toString(long _arg);
+std::string toString(long long _arg);
+std::string toString(unsigned _arg);
+std::string toString(unsigned long _arg);
+std::string toString(unsigned long long _arg);
+std::string toString(float _arg);
+std::string toString(double _arg);
+std::string toString(long double _arg);
+
+inline std::string toString(bool _arg)
+{
+ return (_arg ? "true" : "false");
+}
+
+inline std::string toString(int _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(long _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(long long _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(unsigned _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(unsigned long _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(unsigned long long _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(float _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(double _arg)
+{
+ return std::to_string(_arg);
+}
+
+inline std::string toString(long double _arg)
+{
+ return std::to_string(_arg);
+}
+}
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index c327ab2d05f1d335e51d27ec6dfe07ebf5c5ab5c..cda69dd4a2354476a67317424cd66548204cac08 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef TIME_STAMP_H_
-#define TIME_STAMP_H_
+#pragma once
//wolf includes
#include "core/common/wolf.h"
@@ -311,6 +309,4 @@ inline double TimeStamp::operator -(const TimeStamp& ts) const
return double((long int)(time_stamp_nano_ - ts.time_stamp_nano_))*1e-9; // long int cast fix overflow in case of negative substraction result
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index 25e9325fd3b61f425f085bd47e9b788ebd494aa9..eda4914d26f887017074d5f52da1fec6ab7eeabe 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file wolf.h
- * \brief General typedefs for the Wolf project
- * \author Joan Sola
- * Created on: 28/05/2014
- */
-
-#ifndef WOLF_H_
-#define WOLF_H_
+#pragma once
// Enable project-specific definitions and macros
#include "core/internal/config.h"
@@ -316,6 +308,4 @@ inline bool file_exists(const std::string& _name)
inline const Eigen::Vector3d gravity(void) {
return Eigen::Vector3d(0,0,-9.806);
}
-} // namespace wolf
-
-#endif /* WOLF_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 88f28a3880d513ace93166d6e38cc80a178455be..536293d68ba2b1409ca6af3a1a5285248abaf722 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef FACTOR_ANALYTIC_H_
-#define FACTOR_ANALYTIC_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_base.h"
@@ -203,6 +201,4 @@ class FactorAnalytic: public FactorBase
void resizeVectors();
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index c10c0b58b799f6171a418c9a6217b4d69a9e6f88..befbe579d48c44f15c321a50675b9f280921ce40 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef FACTOR_AUTODIFF_H_
-#define FACTOR_AUTODIFF_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_base.h"
@@ -3340,6 +3338,4 @@ const std::vector<unsigned int> FactorAutodiff<FacT,RES,B0,B1,0,0,0,0,0,0,0,0,0,
template <class FacT,unsigned int RES,unsigned int B0>
const std::vector<unsigned int> FactorAutodiff<FacT,RES,B0,0,0,0,0,0,0,0,0,0,0,0>::jacobian_locations_ = {0};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 1894148de2ea576614b14d6de81a4f138c4e037c..d35617be28a0999ddeadaa54b05597b7fd7d9015 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_BASE_H_
-#define FACTOR_BASE_H_
+#pragma once
// Forward declarations for node templates
namespace wolf{
@@ -428,5 +427,4 @@ inline LandmarkBaseConstWPtrList FactorBase::getLandmarkOtherList() const
return list_const;
}
-} // namespace wolf
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 3b9e464a01f6f5d9d28b2cfb3e74614e3ef4e212..51806e360fa78d15d0bc3af4bf2e420a4efbcf9f 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factor_block_absolute.h
- *
- * Created on: Dec 15, 2017
- * \author: AtDinesh
- */
-
-#ifndef FACTOR_BLOCK_ABSOLUTE_H_
-#define FACTOR_BLOCK_ABSOLUTE_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_analytic.h"
@@ -215,6 +207,4 @@ inline unsigned int FactorBlockAbsolute::getSize() const
return sb_constrained_size_;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_block_difference.h b/include/core/factor/factor_block_difference.h
index 503ace5dd84ece4a7adb05205deba25883b72609..0d6c24c327e765385a012a91781a3700dcbd92e0 100644
--- a/include/core/factor/factor_block_difference.h
+++ b/include/core/factor/factor_block_difference.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factor_block_difference.h
- *
- * Created on: Feb 28, 2020
- * \author: mfourmy
- */
-
-#ifndef FACTOR_BLOCK_DIFFERENCE_H_
-#define FACTOR_BLOCK_DIFFERENCE_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_analytic.h"
@@ -216,6 +208,4 @@ inline unsigned int FactorBlockDifference::getSize() const
return sb1_constrained_size_;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 9606e23b17f21b8772081f090a31e16c617338de..42b34d895fc5e76e444670b30674cc43dccd2944 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -19,16 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factor_diff_drive.h
- *
- * Created on: Oct 27, 2017
- * \author: Jeremie Deray
- * \adapted: Joan Sola - July 2019
- */
-
-#ifndef WOLF_FACTOR_DIFF_DRIVE_H_
-#define WOLF_FACTOR_DIFF_DRIVE_H_
+#pragma once
//Wolf includes
#include "core/capture/capture_diff_drive.h"
@@ -164,6 +155,4 @@ inline Eigen::VectorXd FactorDiffDrive::residual()
return residual;
}
-} // namespace wolf
-
-#endif /* WOLF_FACTOR_DIFF_DRIVE_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_distance_3d.h b/include/core/factor/factor_distance_3d.h
index d4207b254443ad077a0b9ad319ab333a8b0040cc..ad7a370c7b14cc49a17aed223d8949fe1a951809 100644
--- a/include/core/factor/factor_distance_3d.h
+++ b/include/core/factor/factor_distance_3d.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factor_autodiff_distance_3d.h
- *
- * Created on: Apr 10, 2018
- * \author: jsola
- */
-
-#ifndef FACTOR_DISTANCE_3d_H_
-#define FACTOR_DISTANCE_3d_H_
+#pragma once
#include "core/factor/factor_autodiff.h"
@@ -85,6 +77,4 @@ class FactorDistance3d : public FactorAutodiff<FactorDistance3d, 1, 3, 3>
}
};
-} /* namespace wolf */
-
-#endif /* FACTOR_DISTANCE_3d_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/factor/factor_pose_2d.h b/include/core/factor/factor_pose_2d.h
index 2d3f40ed24c53cb7e28d7cb2054ccaa33140c02d..30d4c716834738159fd08ecbe3147438d34bdadf 100644
--- a/include/core/factor/factor_pose_2d.h
+++ b/include/core/factor/factor_pose_2d.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef FACTOR_POSE_2d_H_
-#define FACTOR_POSE_2d_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -99,6 +97,4 @@ inline bool FactorPose2d::operator ()(const T* const _p, const T* const _o, T* _
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_pose_3d.h b/include/core/factor/factor_pose_3d.h
index 04f7f7b1798eb3669a2f397f1c7f2915871b1b9e..fc02776d10cd3c9f9401dbebec9708d20d20d858 100644
--- a/include/core/factor/factor_pose_3d.h
+++ b/include/core/factor/factor_pose_3d.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef FACTOR_POSE_3d_H_
-#define FACTOR_POSE_3d_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -84,6 +82,4 @@ inline bool FactorPose3d::operator ()(const T* const _p, const T* const _o, T* _
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_pose_3d_with_extrinsics.h b/include/core/factor/factor_pose_3d_with_extrinsics.h
index 2daacba6d7d05fb2dde5356a62ccf43a18213777..0cafc061524d519c030f5542a5e4af53909a7bf9 100644
--- a/include/core/factor/factor_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_pose_3d_with_extrinsics.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_POSE_3D_WITH_EXTRINSICS_THETA_H_
-#define FACTOR_POSE_3D_WITH_EXTRINSICS_THETA_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -154,6 +153,4 @@ inline bool FactorPose3dWithExtrinsics::operator ()(const T* const _p,
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index 5e93a15389990111ddb1751e635e3e11ff73c503..f760bd2de64e279c605b524e2c755585ead4edfd 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factor_quaternion_absolute.h
- *
- * Created on: Dec 15, 2017
- * \author: AtDinesh
- */
-
-#ifndef FACTOR_QUATERNION_ABSOLUTE_H_
-#define FACTOR_QUATERNION_ABSOLUTE_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -102,6 +94,4 @@ inline bool FactorQuaternionAbsolute::operator ()(const T* const _o, T* _residua
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_relative_pose_2d.h b/include/core/factor/factor_relative_pose_2d.h
index 4a608feb01c29b413b19608987767853eecf5407..3271c97d3cc8fd8b66512532e68afd00ab33339e 100644
--- a/include/core/factor/factor_relative_pose_2d.h
+++ b/include/core/factor/factor_relative_pose_2d.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_RELATIVE_POSE_2d_H_
-#define FACTOR_RELATIVE_POSE_2d_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_analytic.h"
@@ -274,6 +273,4 @@ inline void FactorRelativePose2d::evaluatePureJacobians(std::vector<Eigen::Matri
jacobians[3] = (Eigen::MatrixXd(3,1) << 0, 0, 1).finished();
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
index b0eea0f2b8f91f00a9a2bc8a7bda6ce1be66dc45..67260654b58004a61e4a3d6ee612255e1861e615 100644
--- a/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_2d_with_extrinsics.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_H_
-#define FACTOR_RELATIVE_POSE_2D_WITH_EXTRINSICS_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -186,6 +185,4 @@ inline bool FactorRelativePose2dWithExtrinsics::operator ()(const T* const _p_re
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_relative_pose_3d.h b/include/core/factor/factor_relative_pose_3d.h
index 6003c446732399f1abe6c4127dfb257543c82c2c..e73a3fc86ec32475cb770ea9b49fa2454b0bc0f2 100644
--- a/include/core/factor/factor_relative_pose_3d.h
+++ b/include/core/factor/factor_relative_pose_3d.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * factor_relative_pose_3d.h
- *
- * Created on: Oct 7, 2016
- * Author: jsola
- */
-
-#ifndef FACTOR_RELATIVE_POSE_3D_H_
-#define FACTOR_RELATIVE_POSE_3D_H_
+#pragma once
#include "core/factor/factor_autodiff.h"
#include "core/math/rotations.h"
@@ -254,6 +246,4 @@ inline bool FactorRelativePose3d::operator ()(const T* const _p_current,
return true;
}
-} /* namespace wolf */
-
-#endif /* FACTOR_RELATIVE_POSE_3D_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
index 19245f6bcf630f737e4a01aa78b4a11030d8264a..5c463ff979bcec3e254959d42024f8d85e280f12 100644
--- a/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
+++ b/include/core/factor/factor_relative_pose_3d_with_extrinsics.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef _FACTOR_TELATIVE_POSE_3D_WITH_EXTRINSICS
-#define _FACTOR_TELATIVE_POSE_3D_WITH_EXTRINSICS
+#pragma once
//Wolf includes
#include "core/common/wolf.h"
@@ -210,6 +209,4 @@ inline double FactorRelativePose3dWithExtrinsics::cost() const
return residual().squaredNorm();
}
-} // namespace wolf
-
-#endif /* _FACTOR_TELATIVE_POSE_3D_WITH_EXTRINSICS */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/factor/factor_velocity_local_direction_3d.h b/include/core/factor/factor_velocity_local_direction_3d.h
index 89d8cb1268180c4cdd1076251731f52f4329214a..c19bdc65e6ee9c1d5bf74602cfdca1c91422f004 100644
--- a/include/core/factor/factor_velocity_local_direction_3d.h
+++ b/include/core/factor/factor_velocity_local_direction_3d.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef FACTOR_VELOCITY_LOCAL_DIRECTION_3D_H_
-#define FACTOR_VELOCITY_LOCAL_DIRECTION_3D_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -165,6 +163,4 @@ inline bool FactorVelocityLocalDirection3d::operator ()(const T* const _v, const
return true;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index beb5eae22b8667750d43c2a51ade0a24857c6483..e1a4a8ee8a68af60bf322cdc75d1ded12a448b33 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FEATURE_BASE_H_
-#define FEATURE_BASE_H_
+#pragma once
// Forward declarations for node templates
namespace wolf{
@@ -258,6 +257,4 @@ inline void FeatureBase::setExpectation(const Eigen::VectorXd& expectation)
expectation_ = expectation;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index 8b756e29a415db4f6b3278497cdab946db736857..0698ff0a39384ddf460dcbaacab682fe7bdafa1a 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file feature_diff_drive.h
- *
- * Created on: Oct 27, 2016
- * \author: Jeremie Deray
- */
-
-#ifndef _WOLF_FEATURE_DIFF_DRIVE_H_
-#define _WOLF_FEATURE_DIFF_DRIVE_H_
+#pragma once
//Wolf includes
#include "core/feature/feature_motion.h"
@@ -49,6 +41,4 @@ class FeatureDiffDrive : public FeatureMotion
};
-} /* namespace wolf */
-
-#endif /* _WOLF_FEATURE_DIFF_DRIVE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 36b5b2ca1cdb9f75547a092379156eac2a26746a..6315fbf4ad71fcef343ce84e8caa31155151bf54 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FEATURE_MATCH_H_
-#define FEATURE_MATCH_H_
+#pragma once
// Wolf includes
#include "core/common/wolf.h"
@@ -51,7 +50,4 @@ struct FeatureMatch
double normalized_score_; ///< normalized similarity score (0 is bad, 1 is good)
};
-}//end namespace
-
-#endif
-
+}//end namespace
\ No newline at end of file
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index 535acdfe98317b9a1e4c801dd6e47862c1b7b4d3..0bcc316e681f44cb7d570db42246da3967b50a6c 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * feature_motion.h
- *
- * Created on: Aug 11, 2017
- * Author: jsola
- */
-
-#ifndef FEATURE_MOTION_H_
-#define FEATURE_MOTION_H_
+#pragma once
#include "core/feature/feature_base.h"
#include "core/capture/capture_motion.h"
@@ -71,7 +63,4 @@ inline const Eigen::MatrixXd& FeatureMotion::getJacobianCalibration() const
return jacobian_calib_;
}
-
-} /* namespace wolf */
-
-#endif /* FEATURE_MOTION_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index e83d964e061c74600a94db83623335e33f0e2e26..d130ee00e1b7778aa26af8f165fab75f666fa3c7 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FEATURE_ODOM_2d_H_
-#define FEATURE_ODOM_2d_H_
+#pragma once
//Wolf includes
#include "core/feature/feature_base.h"
@@ -47,6 +46,4 @@ class FeatureOdom2d : public FeatureBase
~FeatureOdom2d() override;
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index bd30ee7394a85240fe8fc69582c5c5a3ca49aabb..9d67e97fbe9b9826bf868e85a09cafcd2b456662 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FEATURE_POSE_H_
-#define FEATURE_POSE_H_
+#pragma once
//Wolf includes
#include "core/feature/feature_base.h"
@@ -47,6 +46,4 @@ class FeaturePose : public FeatureBase
~FeaturePose() override;
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 8d64663585af0982d7ac3209a3fcb808c753080a..97d76c632258a5ed7177c6f8230f26ce79f6aaff 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -19,10 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-
-#ifndef FRAME_BASE_H_
-#define FRAME_BASE_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -327,6 +324,4 @@ inline CaptureBasePtrList FrameBase::getCapturesOfType()
return captures;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index 4e86c8892af30795657610cf5576f724a7c792d3..29d4ba6666acb5fba05c02d69067da4acbfd4ef9 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef HARDWARE_BASE_H_
-#define HARDWARE_BASE_H_
+#pragma once
// Fwd dependencies
namespace wolf{
@@ -94,6 +93,4 @@ inline SensorBasePtrList HardwareBase::getSensorList()
return sensor_list_;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index 1d08d5748404c4bbe6151c8e28cf6827dc79f183..3f7bd7adb38a3f263361bd206534e6f06a63a691 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef LANDMARK_BASE_H_
-#define LANDMARK_BASE_H_
+#pragma once
// Fwd references
namespace wolf{
@@ -210,5 +209,4 @@ inline const Eigen::VectorXd& LandmarkBase::getDescriptor() const
return descriptor_;
}
-} // namespace wolf
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index a7fbe5cc33f3c9c1761fd7d6a575df613324a316..aeb6862075f5dd465342b911b08a29b69f3dc130 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef LANDMARK_MATCH_H_
-#define LANDMARK_MATCH_H_
+#pragma once
// Wolf includes
#include "core/common/wolf.h"
@@ -54,6 +53,4 @@ struct LandmarkMatch
}
};
-}//end namespace
-
-#endif
+}//end namespace
\ No newline at end of file
diff --git a/include/core/map/factory_map.h b/include/core/map/factory_map.h
index 5772e4e8a1abab280f5e6ee096161e99be39d515..b5203917e48731bc4fc80ed63e967615e348b518 100644
--- a/include/core/map/factory_map.h
+++ b/include/core/map/factory_map.h
@@ -19,26 +19,20 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factory_map.h
- *
- * Created on: Jul 25, 2016
- * \author: jvallve
- */
-
-#ifndef FACTORY_MAP_H_
-#define FACTORY_MAP_H_
+#pragma once
namespace wolf
{
class MapBase;
-struct ParamsMapBase;
}
// wolf
#include "core/common/factory.h"
#include "core/utils/params_server.h"
+// Yaml
+#include "yaml-cpp/yaml.h"
+
namespace wolf
{
@@ -175,8 +169,7 @@ namespace wolf
* \endcode
*
*/
-typedef Factory<MapBase,
- const ParamsMapBasePtr> FactoryMap;
+typedef Factory<MapBase, const YAML::Node&> FactoryMap;
template<>
inline std::string FactoryMap::getClass() const
@@ -184,35 +177,8 @@ inline std::string FactoryMap::getClass() const
return "FactoryMap";
}
-// ParamsMap factory
-struct ParamsMapBase;
-typedef Factory<ParamsMapBase,
- const std::string&> FactoryParamsMap;
-template<>
-inline std::string FactoryParamsMap::getClass() const
-{
- return "FactoryParamsMap";
-}
-
#define WOLF_REGISTER_MAP(MapType) \
namespace{ const bool WOLF_UNUSED MapType##Registered = \
- FactoryMap::registerCreator(#MapType, MapType::create); } \
-
-
-typedef Factory<MapBase,
- const ParamsServer&> AutoConfFactoryMap;
-
-template<>
-inline std::string AutoConfFactoryMap::getClass() const
-{
- return "AutoConfFactoryMap";
-}
-
-#define WOLF_REGISTER_MAP_AUTO(MapType) \
- namespace{ const bool WOLF_UNUSED MapType##AutoConfRegistered = \
- AutoConfFactoryMap::registerCreator(#MapType, MapType::create); } \
-
-
-} /* namespace wolf */
+ FactoryMap::registerCreator(#MapType, MapType::create); } \
-#endif /* SENSOR_FACTORY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index af09f86002c697ad026ad9942d218026808555c4..d1078082e587fe300123c84b8d1d97d498c8679d 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef MAP_BASE_H_
-#define MAP_BASE_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -34,7 +32,8 @@ class LandmarkBase;
#include "core/common/node_base.h"
#include "core/common/params_base.h"
-//std includes
+//other includes
+#include "yaml-schema-cpp/yaml_server.hpp"
namespace wolf {
@@ -51,23 +50,13 @@ namespace wolf {
*
* We recommend writing one of such constructors in your derived maps.
*/
-#define WOLF_MAP_CREATE(MapClass, ParamsMapClass) \
-static \
-MapBasePtr create(const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ParamsMapClass>(_server); \
- \
- return std::make_shared<MapClass>(params); \
-} \
- \
-static \
-MapBasePtr create(const ParamsMapBasePtr _params) \
-{ \
- auto params = std::static_pointer_cast<ParamsMapClass>(_params); \
- \
- return std::make_shared<MapClass>(params); \
-} \
-
+#define WOLF_MAP_CREATE(MapClass, ParamsMapClass) \
+static MapBasePtr create(const YAML::Node& _node_input) \
+{ \
+ auto params = std::make_shared<ParamsMapClass>(_node_input); \
+ \
+ return std::make_shared<MapClass>(params); \
+} \
/** \brief base struct for map parameters
*
@@ -77,8 +66,8 @@ struct ParamsMapBase: public ParamsBase
{
std::string prefix = "map";
- ParamsMapBase(const ParamsServer& _param_server) :
- ParamsBase("map", _param_server)
+ ParamsMapBase(const YAML::Node& _input_node) :
+ ParamsBase(_input_node)
{
};
@@ -150,6 +139,4 @@ inline LandmarkBasePtrList MapBase::getLandmarkList()
return landmark_list_;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/math/SE2.h b/include/core/math/SE2.h
index 95631a8a6fb82ac22595b64d3e1d5b4fe7849cb4..32dbd2fc4f2854af11d40f22cbaab19d4185b3d1 100644
--- a/include/core/math/SE2.h
+++ b/include/core/math/SE2.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file SE2.h
- *
- * Created on: Jul 27, 2019
- * \author: jsola
- */
-
-#ifndef MATH_SE2_H_
-#define MATH_SE2_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/math/rotations.h"
@@ -483,6 +475,4 @@ inline Matrix<typename D1::Scalar, 3, 1> between(const MatrixBase<D1>& d1,
}
} // namespace SE2
-} // namespacs wolf
-
-#endif /* MATH_SE2_H_ */
+} // namespacs wolf
\ No newline at end of file
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 7917935549619fbc58cc917e834d5ae735d90d41..701dfebf4811b399dbd5af22ec2578f0402e2563 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * SE3.h
- *
- * Created on: Mar 15, 2018
- * Author: jsola
- */
-
-#ifndef SE3_H_
-#define SE3_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/math/rotations.h"
@@ -624,7 +616,4 @@ inline Matrix<typename D1::Scalar, 6, 6> jac_SE3_right(const MatrixBase<D1>& tan
}
} // namespace three_d
-} // namespace wolf
-
-
-#endif /* SE3_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/math/covariance.h b/include/core/math/covariance.h
index 06ae067ccb0e7be12ead33c56839efc15256d19e..4aa6304bdec44edcd98f9684d27d90bfa4b874a7 100644
--- a/include/core/math/covariance.h
+++ b/include/core/math/covariance.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file covariance.h
- *
- * Created on: Feb 26, 2020
- * \author: jsola
- */
-
-#ifndef MATH_COVARIANCE_H_
-#define MATH_COVARIANCE_H_
+#pragma once
#include <Eigen/Dense>
@@ -125,9 +117,4 @@ inline Eigen::MatrixXd computeSqrtUpper(const Eigen::MatrixXd & _info)
return R;
}
-
-}
-
-
-
-#endif /* MATH_COVARIANCE_H_ */
+}
\ No newline at end of file
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index f33c18fcb075a9c2503556beb4907fd55ad4513e..b1cdcc26c5f0a3ce8766426b07cb187e824a0d7c 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file rotations.h
- *
- * Created on: Sep 6, 2016
- * \author: jsola
- */
-
-#ifndef ROTATIONS_H_
-#define ROTATIONS_H_
+#pragma once
#include "core/common/wolf.h"
@@ -663,6 +655,4 @@ diff(const Eigen::QuaternionBase<D1>& q1, const Eigen::QuaternionBase<D2>& q2)
return minus(q1, q2);
}
-} // namespace wolf
-
-#endif /* ROTATIONS_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 7c551678e21f932c75f084cd770b0c35165e4e2d..8fdfc1ffe4c0e16a0808d03756845620622d9629 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PROBLEM_H_
-#define PROBLEM_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -34,6 +33,7 @@ class TimeStamp;
struct ParamsSensorBase;
struct ParamsProcessorBase;
}
+class Loader;
//wolf includes
#include "core/common/wolf.h"
@@ -47,6 +47,9 @@ struct ParamsProcessorBase;
// std includes
#include <mutex>
+// yaml includes
+#include "yaml-cpp/yaml.h"
+
namespace wolf {
enum Notification
@@ -96,11 +99,17 @@ class Problem : public std::enable_shared_from_this<Problem>
void setup();
public:
- static ProblemPtr create(const std::string& _frame_structure, SizeEigen _dim, MapBasePtr _map = std::make_shared<MapBase>()); // USE THIS AS A CONSTRUCTOR!
- static ProblemPtr autoSetup(ParamsServer &_server);
+ static ProblemPtr create(const std::string& _frame_structure,
+ SizeEigen _dim,
+ MapBasePtr _map = std::make_shared<MapBase>()); // USE THIS AS A CONSTRUCTOR!
+ static ProblemPtr autoSetup(const std::string& _input_yaml_file,
+ const std::vector<std::string>& _primary_schema_folders={});
virtual ~Problem();
-
+ protected:
+ static void loadPlugin(const std::string& plugin_name,
+ const std::string& plugins_path,
+ std::list<std::shared_ptr<Loader>>& loaders);
// Properties -----------------------------------------
public:
@@ -126,79 +135,70 @@ class Problem : public std::enable_shared_from_this<Problem>
HardwareBaseConstPtr getHardware() const;
HardwareBasePtr getHardware();
- /** \brief Factory method to install (create and add) sensors only from its properties
- * \param _sen_type type of sensor
- * \param _unique_sensor_name unique sensor name, used to identify the particular instance of the sensor
- * \param _params a base-pointer to a derived struct defining the intrinsic parameters.
- * \param _priors an unordered map of the states priors indexed by their key.
+ /** \brief Factory method to install (create and add) sensors only from a YAML node -- Helper method loading parameters from file
+ * \param _sensor_node YAML node containing all necessary information to call the factory and create the sensor.
*/
- SensorBasePtr installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- ParamsSensorBasePtr _params,
- const Priors& _priors);
+ SensorBasePtr installSensor(const YAML::Node& _sensor_node);
/** \brief Factory method to install (create and add) sensors only from its properties -- Helper method loading parameters from file
* \param _sen_type type of sensor
- * \param _unique_sensor_name unique sensor name, used to identify the particular instance of the sensor
* \param _params_yaml_filename the name of a file containing the parameters in a format compatible with the intrinsics creator registered in FactoryParamsSensor under the key _sen_type.
+ * \param _folders_schema a vector of paths where the schema files (to validate the YAML file) are placed
*/
SensorBasePtr installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- const std::string& _params_yaml_filename);
- /**\brief Factory method to install (create and add) sensors only from its properties -- Helper method loading parameters from file
+ const std::string& _params_yaml_filename,
+ const std::vector<std::string>& _folders_schema);
+ /** \brief Factory method to install (create and add) sensors only from its properties
* \param _sen_type type of sensor
- * \param _unique_sensor_name unique sensor name, used to identify the particular instance of the sensor
- * \param _server the parameter server.
+ * \param _params a base-pointer to a derived struct defining the intrinsic parameters.
+ * \param _priors an unordered map of the states priors indexed by their key.
*/
SensorBasePtr installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- const ParamsServer& _server);
- /** \brief get a sensor pointer by its name
- * \param _sensor_name The sensor name, as it was installed with installSensor()
- */
- SensorBaseConstPtr findSensor(const std::string& _sensor_name) const;
- SensorBasePtr findSensor(const std::string& _sensor_name);
-
- /** \brief get a processor pointer by its name
- * \param _processor_name The processor name, as it was installed with installProcessor()
- */
- ProcessorBaseConstPtr findProcessor(const std::string& _processor_name) const;
- ProcessorBasePtr findProcessor(const std::string& _processor_name);
+ ParamsSensorBasePtr _params,
+ const Priors& _priors);
+ /** \brief Factory method to install (create, and add to sensor) processors only from a YAML node -- Helper method loading parameters from file
+ * \param _processor_node YAML node containing all necessary information to call the factory and create the processor.
+ */
+ ProcessorBasePtr installProcessor(const YAML::Node& _processor_node);
+
/** \brief Factory method to install (create, and add to sensor) processors only from its properties
*
* This method creates a Processor, and adds it to the specified sensor's list of processors
+ *
+ * This method is a helper wrapper around the version accepting a sensor pointer instead of a sensor name.
* \param _prc_type type of processor
- * \param _unique_processor_name unique processor name, used to identify the particular instance of the processor
- * \param _corresponding_sensor_ptr pointer to the sensor where the processor will be installed.
- * \param _prc_params a base-pointer to a derived struct defining the processor parameters.
+ * \param _corresponding_sensor_name corresponding sensor name, used to bind the processor to the particular instance of the sensor
+ * \param _params_yaml_filename name of formatted yaml file defining the processor parameters.
+ * \param _folders_schema a vector of paths where the schema files (to validate the YAML file) are placed
*/
- ProcessorBasePtr installProcessor(const std::string& _prc_type, //
- const std::string& _unique_processor_name, //
- SensorBasePtr _corresponding_sensor_ptr, //
- ParamsProcessorBasePtr _prc_params = nullptr);
+ ProcessorBasePtr installProcessor(const std::string& _prc_type,
+ const std::string& _corresponding_sensor_name,
+ const std::string& _params_yaml_filename,
+ const std::vector<std::string>& _folders_schema);
/** \brief Factory method to install (create, and add to sensor) processors only from its properties
*
* This method creates a Processor, and adds it to the specified sensor's list of processors
- *
- * This method is a helper wrapper around the version accepting a sensor pointer instead of a sensor name.
* \param _prc_type type of processor
- * \param _unique_processor_name unique processor name, used to identify the particular instance of the processor
- * \param _corresponding_sensor_name corresponding sensor name, used to bind the processor to the particular instance of the sensor
- * \param _params_filename name of formatted file (xml, yaml, etc) defining the processor parameters.
+ * \param _corresponding_sensor_ptr pointer to the sensor where the processor will be installed.
+ * \param _prc_params a base-pointer to a derived struct defining the processor parameters.
*/
- ProcessorBasePtr installProcessor(const std::string& _prc_type, //
- const std::string& _unique_processor_name, //
- const std::string& _corresponding_sensor_name, //
- const std::string& _params_filename = "");
+ ProcessorBasePtr installProcessor(const std::string& _prc_type,
+ SensorBasePtr _corresponding_sensor_ptr,
+ ParamsProcessorBasePtr _prc_params);
+
+ /** \brief get a sensor pointer by its name
+ * \param _sensor_name The sensor name, as it was installed with installSensor()
+ */
+ SensorBaseConstPtr findSensor(const std::string& _sensor_name) const;
+ SensorBasePtr findSensor(const std::string& _sensor_name);
+
+ /** \brief get a processor pointer by its name
+ * \param _processor_name The processor name, as it was installed with installProcessor()
+ */
+ ProcessorBaseConstPtr findProcessor(const std::string& _processor_name) const;
+ ProcessorBasePtr findProcessor(const std::string& _processor_name);
- /**
- Custom installProcessor to be used with parameters server
- */
- ProcessorBasePtr installProcessor(const std::string& _prc_type, //
- const std::string& _unique_processor_name, //
- const std::string& _corresponding_sensor_name, //
- const ParamsServer& _server);
protected:
/** \brief Set the processor motion
*
@@ -501,8 +501,4 @@ inline void Problem::consumeNotifications(std::map<StateBlockPtr,Notification>&
_fac_notification_map = std::move(factor_notification_map_);
}
-} // namespace wolf
-
-
-
-#endif // PROBLEM_H
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/factory_processor.h b/include/core/processor/factory_processor.h
index c4918dea51cc9a233954827fa52979e12201dd64..253ccb9361aa6a69cb8c67a60ee46211df15d65f 100644
--- a/include/core/processor/factory_processor.h
+++ b/include/core/processor/factory_processor.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factory_processor.h
- *
- * Created on: May 4, 2016
- * \author: jsola
- */
-
-#ifndef FACTORY_PROCESSOR_H_
-#define FACTORY_PROCESSOR_H_
+#pragma once
namespace wolf
{
@@ -126,26 +118,16 @@ namespace wolf
*
*/
typedef Factory<ProcessorBase,
- const std::string&,
- const ParamsProcessorBasePtr> FactoryProcessor;
+ const YAML::Node&> FactoryProcessor;
template<>
inline std::string FactoryProcessor::getClass() const
{
- return "FactoryProcessor";
+ return "FactoryProcessor";
}
typedef Factory<ProcessorBase,
const std::string&,
- const ParamsServer&> FactoryProcessorServer;
-template<>
-inline std::string FactoryProcessorServer::getClass() const
-{
- return "FactoryProcessorServer";
-}
-
-typedef Factory<ProcessorBase,
- const std::string&,
- const std::string&> FactoryProcessorYaml;
+ const std::vector<std::string>&> FactoryProcessorYaml;
template<>
inline std::string FactoryProcessorYaml::getClass() const
{
@@ -153,32 +135,19 @@ inline std::string FactoryProcessorYaml::getClass() const
}
typedef Factory<ProcessorBase,
- const YAML::Node&> FactoryProcessorYamlNode;
-template<>
-inline std::string FactoryProcessorYamlNode::getClass() const
-{
- return "FactoryProcessorYamlNode";
-}
-
-// ParamsProcessor factory
-struct ParamsProcessorBase;
-typedef Factory<ParamsProcessorBase,
- const std::string&> FactoryParamsProcessor;
+ std::shared_ptr<ParamsProcessorBase>> FactoryProcessorParams;
template<>
-inline std::string FactoryParamsProcessor::getClass() const
+inline std::string FactoryProcessorParams::getClass() const
{
- return "FactoryParamsProcessor";
+ return "FactoryProcessorParams";
}
#define WOLF_REGISTER_PROCESSOR(ProcessorType) \
- namespace{ const bool WOLF_UNUSED ProcessorType##ServerRegistered = \
- wolf::FactoryProcessorServer::registerCreator(#ProcessorType, ProcessorType::create); } \
namespace{ const bool WOLF_UNUSED ProcessorType##Registered = \
wolf::FactoryProcessor::registerCreator(#ProcessorType, ProcessorType::create); } \
namespace{ const bool WOLF_UNUSED ProcessorType##YamlRegistered = \
wolf::FactoryProcessorYaml::registerCreator(#ProcessorType, ProcessorType::create); } \
- namespace{ const bool WOLF_UNUSED ProcessorType##YamlNodeRegistered = \
- wolf::FactoryProcessorYamlNode::registerCreator(#ProcessorType, ProcessorType::create); } \
+ namespace{ const bool WOLF_UNUSED ProcessorType##ParamsRegistered = \
+ wolf::FactoryProcessorParams::registerCreator(#ProcessorType, ProcessorType::create); } \
-} /* namespace wolf */
-#endif /* PROCESSOR_FACTORY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 4763d0bc45d513611d34775754898da9290b7aec..343247a93f07350eacb9296bbfdbf201962db4a9 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file motion_buffer.h
- *
- * Created on: Apr 14, 2016
- * \author: jsola
- */
-
-#ifndef SRC_MOTIONBUFFER_H_
-#define SRC_MOTIONBUFFER_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/common/time_stamp.h"
@@ -103,6 +95,4 @@ class MotionBuffer : public std::list<Motion>
void print(bool show_data = 0, bool show_delta = 0, bool show_delta_int = 0, bool show_jacs = 0);
};
-} // namespace wolf
-
-#endif /* SRC_MOTIONBUFFER_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/motion_provider.h b/include/core/processor/motion_provider.h
index 2f6a63573941ce7c58bc45fc98094c710567dea1..9cec9025a6dc5874b93b63e5fa2f64f520e9d072 100644
--- a/include/core/processor/motion_provider.h
+++ b/include/core/processor/motion_provider.h
@@ -19,19 +19,12 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file motion_provider.h
- *
- * Created on: Mar 10, 2020
- * \author: jsola
- */
-
-#ifndef PROCESSOR_MOTION_PROVIDER_H_
-#define PROCESSOR_MOTION_PROVIDER_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/state_block/state_composite.h"
-#include "core/utils/params_server.h"
+#include "core/common/params_base.h" // for toString
+#include "yaml-cpp/yaml.h"
namespace wolf
{
@@ -44,11 +37,11 @@ struct ParamsMotionProvider
int state_priority = 1;
ParamsMotionProvider() = default;
- ParamsMotionProvider(std::string _unique_name, const ParamsServer& _server)
+ ParamsMotionProvider(const YAML::Node& _n)
{
- state_getter = _server.getParam<bool>("processor/" + _unique_name + "/state_getter");
+ state_getter = _n["state_getter"].as<bool>();
if (state_getter)
- state_priority = _server.getParam<double>("processor/" + _unique_name + "/state_priority");
+ state_priority = _n["state_priority"].as<double>();
}
std::string print() const
{
@@ -127,6 +120,4 @@ inline void MotionProvider::setStatePriority(int _priority)
params_motion_provider_->state_priority = _priority;
}
-} /* namespace wolf */
-
-#endif /* PROCESSOR_MOTION_PROVIDER_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 62019c087088db640e09f86d846807ab6f84d8cb..4bced936e7fcdfd70e508b6fdb7476b7f10a1bf6 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PROCESSOR_BASE_H_
-#define PROCESSOR_BASE_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -30,7 +29,7 @@ class SensorBase;
// Wolf includes
#include "core/common/wolf.h"
#include "core/common/node_base.h"
-#include <core/processor/motion_provider.h>
+#include "core/processor/motion_provider.h"
#include "core/sensor/sensor_base.h"
#include "core/frame/frame_base.h"
#include "core/common/time_stamp.h"
@@ -41,6 +40,9 @@ class SensorBase;
#include <map>
#include <chrono>
+// yaml
+#include "yaml-cpp/yaml.h"
+
namespace wolf {
/*
@@ -53,53 +55,43 @@ namespace wolf {
* must have a constructor available with the API:
*
* ProcessorClass(const ParamsProcessorClassPtr _params);
+ *
+ * Also, there should be the schema file 'SensorClass.schema' containing the specifications
+ * of the user input yaml file.
*/
-#define WOLF_PROCESSOR_CREATE(ProcessorClass, ParamsProcessorClass) \
-static ProcessorBasePtr create(const std::string& _unique_name, \
- const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ParamsProcessorClass>(_unique_name, _server); \
- \
- auto processor = std::make_shared<ProcessorClass>(params); \
- \
- processor ->setName(_unique_name); \
- \
- return processor; \
-} \
-static ProcessorBasePtr create(const std::string& _unique_name, \
- const ParamsProcessorBasePtr _params) \
-{ \
- auto params = std::static_pointer_cast<ParamsProcessorClass>(_params); \
- \
- auto processor = std::make_shared<ProcessorClass>(params); \
- \
- processor ->setName(_unique_name); \
- \
- return processor; \
-} \
-static ProcessorBasePtr create(const std::string& _unique_name, \
- const std::string& _yaml_filepath) \
-{ \
- auto parser = ParserYaml(_yaml_filepath, true); \
- \
- auto server = ParamsServer(parser.getParams(), "processor/" + _unique_name); \
- \
- auto params = std::make_shared<ParamsProcessorClass>(_unique_name, server); \
- \
- auto processor = std::make_shared<ProcessorClass>(params); \
- \
- processor ->setName(_unique_name); \
- \
- return processor; \
-} \
-static ProcessorBasePtr create(const YAML::Node& _input_node) \
-{ \
- auto params = std::make_shared<ParamsProcessorClass>(_input_node); \
- \
- auto processor = std::make_shared<ProcessorClass>(params); \
- \
- return processor; \
-} \
+#define WOLF_PROCESSOR_CREATE(ProcessorClass, ParamsProcessorClass) \
+static ProcessorBasePtr create(const YAML::Node& _input_node) \
+{ \
+ auto params = std::make_shared<ParamsProcessorClass>(_input_node); \
+ \
+ return std::make_shared<ProcessorClass>(params); \
+} \
+static ProcessorBasePtr create(const std::string& _yaml_filepath, \
+ const std::vector<std::string>& _folders_schema) \
+{ \
+ auto server = yaml_schema_cpp::YamlServer(_folders_schema, _yaml_filepath); \
+ \
+ if (not server.validate(#ProcessorClass)) \
+ { \
+ WOLF_ERROR(server.getLog().str()); \
+ return nullptr; \
+ } \
+ auto params = std::make_shared<ParamsProcessorClass>(server.getNode()); \
+ \
+ return std::make_shared<ProcessorClass>(params); \
+} \
+static ProcessorBasePtr create(const ParamsProcessorBasePtr _params) \
+{ \
+ auto params_derived = std::dynamic_pointer_cast<ParamsProcessorClass>(_params); \
+ if (not params_derived) \
+ { \
+ WOLF_ERROR("In " #ProcessorClass " creator:", \
+ " _params is not of type " #ParamsProcessorClass "!"); \
+ return nullptr; \
+ } \
+ \
+ return std::make_shared<ProcessorClass>(params_derived); \
+} \
/** \brief Buffer for arbitrary type objects
@@ -222,18 +214,11 @@ class BufferCapture : public Buffer<CaptureBasePtr> {};
*/
struct ParamsProcessorBase : public ParamsBase
{
- std::string prefix = "processor/";
ParamsProcessorBase() = default;
- ParamsProcessorBase(std::string _unique_name, const ParamsServer& _server):
- ParamsBase(_unique_name, _server)
- {
- time_tolerance = _server.getParam<double>(prefix + _unique_name + "/time_tolerance");
- voting_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_active");
- apply_loss_function = _server.getParam<bool>(prefix + _unique_name + "/apply_loss_function");
- }
ParamsProcessorBase(const YAML::Node& _n):
ParamsBase(_n)
{
+ name = _n["name"].as<std::string>();
time_tolerance = _n["time_tolerance"].as<double>();
voting_active = _n["keyframe_vote"]["voting_active"].as<bool>();
apply_loss_function = _n["apply_loss_function"].as<bool>();
@@ -245,13 +230,15 @@ struct ParamsProcessorBase : public ParamsBase
* a particular Capture of this processor to allow assigning
* this Capture to the Keyframe.
*/
+ std::string name;
double time_tolerance;
bool voting_active; ///< Whether this processor is allowed to vote for a Key Frame or not
bool apply_loss_function; ///< Whether this processor emplaces factors with loss function or not
std::string print() const override
{
- return "voting_active: " + toString(voting_active) + "\n"
+ return "name: " + name + "\n"
+ + "voting_active: " + toString(voting_active) + "\n"
+ "time_tolerance: " + toString(time_tolerance) + "\n"
+ "apply_loss_function: " + toString(apply_loss_function) + "\n";
}
@@ -712,6 +699,4 @@ inline bool Buffer<T>::checkTimeTolerance(const TimeStamp& _time_stamp1,
return pass;
}
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 5e9b1012c8408f481fae04c1f4cb40e1dcfbbaba..8b81af6a87015310996aa535239a38b9c3f5a103 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_diff_drive.h
- *
- * Created on: Jul 22, 2019
- * \author: jsola
- */
-
-#ifndef PROCESSOR_PROCESSOR_DIFF_DRIVE_H_
-#define PROCESSOR_PROCESSOR_DIFF_DRIVE_H_
+#pragma once
#include "core/processor/processor_odom_2d.h"
@@ -39,10 +31,6 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorDiffDrive);
struct ParamsProcessorDiffDrive : public ParamsProcessorOdom2d
{
ParamsProcessorDiffDrive() = default;
- ParamsProcessorDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
- ParamsProcessorOdom2d(_unique_name, _server)
- {
- }
ParamsProcessorDiffDrive(const YAML::Node& _n) :
ParamsProcessorOdom2d(_n)
{
@@ -108,7 +96,4 @@ inline void ProcessorDiffDrive::setCalibration (const CaptureBasePtr _capture, c
}
-}
-
-
-#endif /* PROCESSOR_PROCESSOR_DIFF_DRIVE_H_ */
+}
\ No newline at end of file
diff --git a/include/core/processor/processor_fixed_wing_model.h b/include/core/processor/processor_fixed_wing_model.h
index 607f2cf9d25c6b352edac0c69f4fa4b3cbb8dce9..26e7d8867eb5f2b20d4450e80d52c88bdd94f37e 100644
--- a/include/core/processor/processor_fixed_wing_model.h
+++ b/include/core/processor/processor_fixed_wing_model.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * processor_fix_wing_model.h
- *
- * Created on: Sep 6, 2021
- * Author: joanvallve
- */
-
-#ifndef INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_
-#define INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_
+#pragma once
#include "core/processor/processor_base.h"
@@ -43,15 +35,6 @@ struct ParamsProcessorFixedWingModel : public ParamsProcessorBase
double min_vel_norm;
ParamsProcessorFixedWingModel() = default;
- ParamsProcessorFixedWingModel(std::string _unique_name, const wolf::ParamsServer & _server) :
- ParamsProcessorBase(_unique_name, _server)
- {
- velocity_local = _server.getParam<Eigen::Vector3d> (prefix + _unique_name + "/velocity_local");
- angle_stdev = _server.getParam<double> (prefix + _unique_name + "/angle_stdev");
- min_vel_norm = _server.getParam<double> (prefix + _unique_name + "/min_vel_norm");
-
- assert(std::abs(velocity_local.norm() - 1.0) < wolf::Constants::EPS && "ParamsProcessorFixedWingModel: 'velocity_local' must be normalized");
- }
ParamsProcessorFixedWingModel(const YAML::Node & _n) :
ParamsProcessorBase(_n)
{
@@ -117,6 +100,4 @@ class ProcessorFixedWingModel : public ProcessorBase
ParamsProcessorFixedWingModelPtr params_processor_;
};
-} /* namespace wolf */
-
-#endif /* INCLUDE_CORE_PROCESSOR_PROCESSOR_FIXED_WING_MODEL_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/processor/processor_loop_closure.h b/include/core/processor/processor_loop_closure.h
index 78e480fdd2eee35d426f18549acce013b1d246e5..14c8324d4fc77e6e763c02efc3d8f97b26ca053b 100644
--- a/include/core/processor/processor_loop_closure.h
+++ b/include/core/processor/processor_loop_closure.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef _WOLF_PROCESSOR_LOOP_CLOSURE_BASE_H
-#define _WOLF_PROCESSOR_LOOP_CLOSURE_BASE_H
+#pragma once
// Wolf related headers
#include "core/processor/processor_base.h"
@@ -34,11 +33,6 @@ struct ParamsProcessorLoopClosure : public ParamsProcessorBase
int max_loops=-1;
ParamsProcessorLoopClosure() = default;
- ParamsProcessorLoopClosure(std::string _unique_name, const ParamsServer& _server):
- ParamsProcessorBase(_unique_name, _server)
- {
- max_loops = _server.getParam<int>(prefix + _unique_name + "/max_loops");
- }
ParamsProcessorLoopClosure(const YAML::Node& _n):
ParamsProcessorBase(_n)
{
@@ -131,6 +125,4 @@ class ProcessorLoopClosure : public ProcessorBase
bool voteForKeyFrame() const override { return false;};
};
-} // namespace wolf
-
-#endif /* _WOLF_PROCESSOR_LOOP_CLOSURE_BASE_H */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index e9b1597f96effd18b2ff273f00d7cc369eb98cfc..3a2e7a60c1430e42cd19ab31352984f2c1515199 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -19,22 +19,13 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_motion.h
- *
- * Created on: 15/03/2016
- * \author: jsola
- */
-
-#ifndef PROCESSOR_MOTION_H_
-#define PROCESSOR_MOTION_H_
+#pragma once
// Wolf
#include <core/processor/motion_provider.h>
#include "core/capture/capture_motion.h"
#include "core/processor/processor_base.h"
#include "core/common/time_stamp.h"
-#include "core/utils/params_server.h"
// std
#include <iomanip>
@@ -53,16 +44,6 @@ struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsMotionPr
double unmeasured_perturbation_std = 1e-4;
ParamsProcessorMotion() = default;
- ParamsProcessorMotion(std::string _unique_name, const ParamsServer& _server):
- ParamsProcessorBase(_unique_name, _server),
- ParamsMotionProvider(_unique_name, _server)
- {
- max_time_span = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/max_time_span");
- max_buff_length = _server.getParam<unsigned int>(prefix + _unique_name + "/keyframe_vote/max_buff_length");
- dist_traveled = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/dist_traveled");
- angle_turned = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/angle_turned");
- unmeasured_perturbation_std = _server.getParam<double>(prefix + _unique_name + "/unmeasured_perturbation_std");
- }
ParamsProcessorMotion(const YAML::Node& _n):
ParamsProcessorBase(_n),
ParamsMotionProvider(_n)
@@ -696,6 +677,4 @@ inline void ProcessorMotion::setAngleTurned(const double& _angle_turned)
params_motion_->angle_turned = _angle_turned;
}
-} // namespace wolf
-
-#endif /* PROCESSOR_MOTION2_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 51ada92bbe6e758a497c3fee642e35bd1c49fa67..e5dd0d822f34922f8afeba03ee71ab85d7b8d68c 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -19,20 +19,11 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_odom_2d.h
- *
- * Created on: Apr 15, 2016
- * \author: jvallve
- */
-
-#ifndef SRC_PROCESSOR_ODOM_2d_H_
-#define SRC_PROCESSOR_ODOM_2d_H_
+#pragma once
#include "core/processor/processor_motion.h"
#include "core/capture/capture_odom_2d.h"
#include "core/math/rotations.h"
-#include "core/utils/params_server.h"
#include "core/math/SE2.h"
namespace wolf {
@@ -45,10 +36,10 @@ struct ParamsProcessorOdom2d : public ParamsProcessorMotion
double cov_det = 1.0;
ParamsProcessorOdom2d() = default;
- ParamsProcessorOdom2d(std::string _unique_name, const wolf::ParamsServer & _server) :
- ParamsProcessorMotion(_unique_name, _server)
+ ParamsProcessorOdom2d(const YAML::Node& _n) :
+ ParamsProcessorMotion(_n)
{
- cov_det = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/cov_det");
+ cov_det = _n["keyframe_vote"]["cov_det"].as<double>();
}
std::string print() const override
@@ -137,6 +128,4 @@ inline void ProcessorOdom2d::setCalibration (const CaptureBasePtr _capture, cons
{
}
-} // namespace wolf
-
-#endif /* SRC_PROCESSOR_ODOM_2d_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index 3008bbc807747525f549cf8a349d73a38b088c0f..8118344916d696f262fc3227dab735e2b56a4cc7 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_odom_3d.h
- *
- * Created on: Mar 18, 2016
- * \author: jsola
- */
-
-#ifndef SRC_PROCESSOR_ODOM_3d_H_
-#define SRC_PROCESSOR_ODOM_3d_H_
+#pragma once
#include "core/processor/processor_motion.h"
#include "core/capture/capture_odom_3d.h"
@@ -42,8 +34,8 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorOdom3d);
struct ParamsProcessorOdom3d : public ParamsProcessorMotion
{
ParamsProcessorOdom3d() = default;
- ParamsProcessorOdom3d(std::string _unique_name, const ParamsServer& _server):
- ParamsProcessorMotion(_unique_name, _server)
+ ParamsProcessorOdom3d(const YAML::Node& _n):
+ ParamsProcessorMotion(_n)
{
//
}
@@ -141,6 +133,4 @@ inline Eigen::VectorXd ProcessorOdom3d::deltaZero() const
return (Eigen::VectorXd(7) << 0,0,0, 0,0,0,1).finished(); // p, q
}
-} // namespace wolf
-
-#endif /* SRC_PROCESSOR_ODOM_3d_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_pose.h b/include/core/processor/processor_pose.h
index ca5cd69cd5c06f9455c0948cd1a476b76a882303..e3cb9e497570d7684acd2257779553f0830218b2 100644
--- a/include/core/processor/processor_pose.h
+++ b/include/core/processor/processor_pose.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PROCESSOR_POSE_NOMOVE_H
-#define PROCESSOR_POSE_NOMOVE_H
+#pragma once
// Wolf
#include "core/sensor/sensor_base.h"
@@ -36,14 +35,14 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorPose);
struct ParamsProcessorPose : public ParamsProcessorBase
{
ParamsProcessorPose() = default;
- ParamsProcessorPose(std::string _unique_name, const ParamsServer& _server):
- ParamsProcessorBase(_unique_name, _server)
+ ParamsProcessorPose(const YAML::Node& _n):
+ ParamsProcessorBase(_n)
{
}
~ParamsProcessorPose() override = default;
std::string print() const override
{
- return "\n" + ParamsProcessorBase::print() + "\n";
+ return ParamsProcessorBase::print();
}
};
@@ -71,19 +70,4 @@ class ProcessorPose : public ProcessorBase{
ParamsProcessorPosePtr params_pfnomove_;
};
-
-
-
-
-} /* namespace wolf */
-
-/////////////////////////////////////////////////////////
-// IMPLEMENTATION. Put your implementation includes here
-/////////////////////////////////////////////////////////
-
-
-namespace wolf{
-
-} // namespace wolf
-
-#endif // PROCESSOR_POSE_NOMOVE_H
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 5ea080d61972b224d7aa64ea4a691d964274fb6d..b4461c7e101f031a768d24b4912a06d0a1a5dad4 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * processor_tracker.h
- *
- * Created on: Apr 7, 2016
- * Author: jvallve
- */
-
-#ifndef SRC_PROCESSOR_TRACKER_H_
-#define SRC_PROCESSOR_TRACKER_H_
+#pragma once
#include "core/processor/processor_base.h"
#include "core/capture/capture_motion.h"
@@ -42,11 +34,11 @@ struct ParamsProcessorTracker : public ParamsProcessorBase
int max_new_features; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
ParamsProcessorTracker() = default;
- ParamsProcessorTracker(std::string _unique_name, const wolf::ParamsServer & _server):
- ParamsProcessorBase(_unique_name, _server)
+ ParamsProcessorTracker(const YAML::Node& _n):
+ ParamsProcessorBase(_n)
{
- min_features_for_keyframe = _server.getParam<unsigned int>(prefix + _unique_name + "/keyframe_vote/min_features_for_keyframe");
- max_new_features = _server.getParam<int>(prefix + _unique_name + "/max_new_features");
+ min_features_for_keyframe = _n["keyframe_vote"]["min_features_for_keyframe"].as<unsigned int>();
+ max_new_features = _n["max_new_features"].as<int>();
}
std::string print() const override
{
@@ -353,6 +345,4 @@ inline CaptureBasePtr ProcessorTracker::getIncoming()
return incoming_ptr_;
}
-} // namespace wolf
-
-#endif /* SRC_PROCESSOR_TRACKER_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index f9c954bf2fe4c0877c01bb75833f8e56bb687417..e76d8103fea857d725c52e9bafc365940907cd61 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \processor_tracker_feature.h
- *
- * Created on: 27/02/2016
- * \author: jsola
- */
-
-#ifndef PROCESSOR_TRACKER_FEATURE_H_
-#define PROCESSOR_TRACKER_FEATURE_H_
+#pragma once
//wolf includes
#include "core/processor/processor_tracker.h"
@@ -215,6 +207,4 @@ class ProcessorTrackerFeature : public ProcessorTracker
void establishFactors() override;
};
-} // namespace wolf
-
-#endif /* PROCESSOR_TRACKER_FEATURE_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index bbccccf950aa02f499d215a21f5488a724330435..b11ae12b524dd1ce31c3e7c938b164073ce6953d 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_tracker_landmark.h
- *
- * Created on: Apr 7, 2016
- * \author: jvallve
- */
-
-#ifndef PROCESSOR_TRACKER_LANDMARK_H_
-#define PROCESSOR_TRACKER_LANDMARK_H_
+#pragma once
//wolf includes
#include "core/processor/processor_tracker.h"
@@ -205,9 +197,4 @@ class ProcessorTrackerLandmark : public ProcessorTracker
void establishFactors() override;
};
-}// namespace wolf
-
-// IMPLEMENTATION
-#include "core/landmark/landmark_base.h"
-
-#endif /* PROCESSOR_TRACKER_LANDMARK_H_ */
+}// namespace wolf
\ No newline at end of file
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 3b06c46381d24a2191ec271b7a741b121b26fbbb..af045f432b0ef9970f36d02416c7725f38470d03 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file track_matrix.h
- *
- * Created on: Mar 24, 2018
- * \author: jsola
- */
-
-#ifndef TRACK_MATRIX_H_
-#define TRACK_MATRIX_H_
+#pragma once
#include "core/feature/feature_base.h"
#include "core/capture/capture_base.h"
@@ -148,6 +140,4 @@ class TrackMatrix
map<CaptureBasePtr, Snapshot > snapshots_; // map indexed by capture_ptr of ( maps indexed by track_Id of ( features ) )
};
-} /* namespace wolf */
-
-#endif /* TRACK_MATRIX_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/sensor/factory_sensor.h b/include/core/sensor/factory_sensor.h
index 0cd4418a68d052423c03f581d99bd1075821a4aa..fa8cc69e3cd8dbaa6f00d993b5d735054dcc9d09 100644
--- a/include/core/sensor/factory_sensor.h
+++ b/include/core/sensor/factory_sensor.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factory_sensor.h
- *
- * Created on: Apr 25, 2016
- * \author: jsola
- */
-
-#ifndef FACTORY_SENSOR_H_
-#define FACTORY_SENSOR_H_
+#pragma once
namespace wolf
{
@@ -42,6 +34,9 @@ class Prior;
// wolf
#include "core/common/factory.h"
+// yaml
+#include "yaml-cpp/yaml.h"
+
namespace wolf
{
@@ -215,20 +210,18 @@ namespace wolf
*/
typedef Factory<SensorBase,
- const std::string&,
SizeEigen,
- const ParamsServer&> FactorySensor;
+ const YAML::Node&> FactorySensor;
typedef Factory<SensorBase,
- const std::string&,
SizeEigen,
- const std::string&> FactorySensorYaml;
+ const std::string&,
+ const std::vector<std::string>&> FactorySensorYaml;
typedef Factory<SensorBase,
- const std::string&,
SizeEigen,
std::shared_ptr<ParamsSensorBase>,
- const std::unordered_map<char,Prior>& > FactorySensorPriors;
+ const Priors& > FactorySensorPriors;
template<>
inline std::string FactorySensor::getClass() const
@@ -254,6 +247,4 @@ inline std::string FactorySensorPriors::getClass() const
namespace{ const bool WOLF_UNUSED SensorType##PriorsRegistered = \
FactorySensorPriors::registerCreator(#SensorType, SensorType::create);} \
-} /* namespace wolf */
-
-#endif /* SENSOR_FACTORY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index e0840a59eabd6e086cd6e78ae7226368d003db75..f1322b58b96c074c2e6c9032002b1dd947f77df5 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef SENSOR_BASE_H_
-#define SENSOR_BASE_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -37,8 +36,7 @@ class ParamsServer;
#include "core/common/time_stamp.h"
#include "core/common/params_base.h"
#include "core/state_block/has_state_blocks.h"
-//#include "core/yaml/parser_yaml.h"
-#include "yaml-schema-cpp/yaml_schema.h"
+#include "yaml-schema-cpp/yaml_schema.hpp"
//std includes
@@ -60,23 +58,11 @@ namespace wolf {
*
* Also, there should be the schema file 'SensorClass.schema' containing the specifications
* of the user input yaml file.
- *
*/
#define WOLF_SENSOR_CREATE(SensorClass, ParamsSensorClass) \
static SensorBasePtr create(SizeEigen _dim, \
- const YAML::Node& _input_node, \
- const std::vector<std::string>& folders_schema) \
+ const YAML::Node& _input_node) \
{ \
- std::stringstream log; \
- if (not yaml-schema-cpp::checkNode(_input_node, \
- SensorClass, \
- folders_schema, \
- log)) \
- { \
- WOLF_ERROR(log.str()); \
- return nullptr; \
- } \
- \
auto params = std::make_shared<ParamsSensorClass>(_input_node); \
\
auto priors = Priors(_input_node["states"]); \
@@ -85,11 +71,11 @@ static SensorBasePtr create(SizeEigen _dim,
} \
static SensorBasePtr create(SizeEigen _dim, \
const std::string& _yaml_filepath, \
- const std::vector<std::string>& folders_schema) \
+ const std::vector<std::string>& _folders_schema) \
{ \
- auto server = yaml-schema-cpp::YamlServer(folders_schema, _yaml_filepath); \
+ auto server = yaml_schema_cpp::YamlServer(_folders_schema, _yaml_filepath); \
\
- if (not server.validate(SensorClass)) \
+ if (not server.validate(#SensorClass)) \
{ \
WOLF_ERROR(server.getLog().str()); \
return nullptr; \
@@ -447,7 +433,4 @@ inline FeatureBasePtr SensorBase::getPriorFeature(char key)
return params_prior_map_.at(key);
}
-
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 9cfd61024cfa411019a8e808230f5b2206cd187b..97f6e451a7ee5cb306fc8b57b9cb954e2f132f9e 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef SENSOR_SENSOR_DIFF_DRIVE_H_
-#define SENSOR_SENSOR_DIFF_DRIVE_H_
+#pragma once
#include "core/sensor/sensor_base.h"
@@ -40,7 +38,7 @@ struct ParamsSensorDiffDrive : public ParamsSensorBase
: ParamsSensorBase(_input_node)
{
ticks_per_wheel_revolution = _input_node["ticks_per_wheel_revolution"].as<double>();
- ticks_std_factor = _input_node["ticks_std_factor"].as<<double>();
+ ticks_std_factor = _input_node["ticks_std_factor"].as<double>();
}
~ParamsSensorDiffDrive() = default;
std::string print() const override
@@ -58,8 +56,7 @@ class SensorDiffDrive : public SensorBase
public:
- SensorDiffDrive(const std::string& _unique_name,
- const SizeEigen& _dim,
+ SensorDiffDrive(const SizeEigen& _dim,
ParamsSensorDiffDrivePtr _params,
const Priors& _priors);
@@ -93,6 +90,4 @@ inline double SensorDiffDrive::getRadiansPerTick() const
return 2.0 * M_PI / params_diff_drive_->ticks_per_wheel_revolution;
}
-} /* namespace wolf */
-
-#endif /* SENSOR_SENSOR_DIFF_DRIVE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/sensor/sensor_motion_model.h b/include/core/sensor/sensor_motion_model.h
index 90612cc8bea6af53db9d95eb542e213795348057..3b6c56effdf72ad6acaf733150d8627f9389fbc5 100644
--- a/include/core/sensor/sensor_motion_model.h
+++ b/include/core/sensor/sensor_motion_model.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef SRC_SENSOR_MOTION_MODEL_H_
-#define SRC_SENSOR_MOTION_MODEL_H_
+#pragma once
//wolf includes
#include "core/sensor/sensor_base.h"
@@ -32,8 +31,7 @@ WOLF_PTR_TYPEDEFS(SensorMotionModel);
class SensorMotionModel : public SensorBase
{
public:
- SensorMotionModel(const std::string& _unique_name,
- const SizeEigen& _dim,
+ SensorMotionModel(const SizeEigen& _dim,
ParamsSensorBasePtr _params,
const Priors& _priors);
@@ -45,6 +43,4 @@ class SensorMotionModel : public SensorBase
};
-} /* namespace wolf */
-
-#endif /* SRC_SENSOR_MOTION_MODEL_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/sensor/sensor_odom.h b/include/core/sensor/sensor_odom.h
index bcba531776bf9a4e6c53afa2296d21f66144de24..e8957d561a3cd3fd3a9ffced54169d745dd20d44 100644
--- a/include/core/sensor/sensor_odom.h
+++ b/include/core/sensor/sensor_odom.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef SENSOR_ODOM_H_
-#define SENSOR_ODOM_H_
+#pragma once
//wolf includes
#include "core/sensor/sensor_base.h"
@@ -69,16 +68,10 @@ class SensorOdom : public SensorBase
ParamsSensorOdomPtr params_odom_;
public:
- SensorOdom(const std::string& _unique_name,
- const SizeEigen& _dim,
+ SensorOdom(const SizeEigen& _dim,
ParamsSensorOdomPtr _params,
const Priors& _priors);
- SensorOdom(const std::string& _unique_name,
- const SizeEigen& _dim,
- ParamsSensorOdomPtr _params,
- const ParamsServer& _server);
-
WOLF_SENSOR_CREATE(SensorOdom, ParamsSensorOdom);
~SensorOdom() override = default;
@@ -118,6 +111,4 @@ inline double SensorOdom::getMinRotVar() const
return params_odom_->min_rot_var;
}
-} // namespace wolf
-
-#endif // SENSOR_ODOM_2d_H_
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/sensor/sensor_pose.h b/include/core/sensor/sensor_pose.h
index 022c44cf4bb702deeb90cc02660830f78cda7bb4..86f8386d81e48c59a76c893a2d1b260c370d23f3 100644
--- a/include/core/sensor/sensor_pose.h
+++ b/include/core/sensor/sensor_pose.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file sensor_pose.h
- *
- * Created on: Feb 18, 2020
- * \author: mfourmy
- */
-
-#ifndef SRC_SENSOR_POSE_H_
-#define SRC_SENSOR_POSE_H_
+#pragma once
//wolf includes
#include "core/sensor/sensor_base.h"
@@ -66,8 +58,7 @@ class SensorPose : public SensorBase
ParamsSensorPosePtr params_pose_;
public:
- SensorPose(const std::string& _unique_name,
- const SizeEigen& _dim,
+ SensorPose(const SizeEigen& _dim,
ParamsSensorPosePtr _params,
const Priors& _priors);
@@ -92,6 +83,4 @@ inline double SensorPose::getStdO() const
return params_pose_->std_o;
}
-} /* namespace wolf */
-
-#endif /* SRC_SENSOR_POSE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/solver/factory_solver.h b/include/core/solver/factory_solver.h
index fc8e5107093de4044f7ef65be490d88cf5af3c9f..72716cf487baf347a26f47b15b28f82c047a90e3 100644
--- a/include/core/solver/factory_solver.h
+++ b/include/core/solver/factory_solver.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file factory_solver.h
- *
- * Created on: Dec 17, 2018
- * \author: jcasals
- */
-
-#ifndef FACTORY_SOLVER_H_
-#define FACTORY_SOLVER_H_
+#pragma once
namespace wolf
{
@@ -39,6 +31,8 @@ struct ParamsSensorBase;
#include "core/common/factory.h"
#include "core/solver/solver_manager.h"
+#include "yaml-cpp/yaml.h"
+
namespace wolf
{
@@ -48,7 +42,7 @@ namespace wolf
typedef Factory<SolverManager,
const ProblemPtr&,
- const ParamsServer&> FactorySolver;
+ const YAML::Node&> FactorySolver;
template<>
inline std::string FactorySolver::getClass() const
@@ -60,6 +54,4 @@ inline std::string FactorySolver::getClass() const
namespace{ const bool WOLF_UNUSED SolverType##Registered = \
wolf::FactorySolver::registerCreator(#SolverType, SolverType::create); } \
-} /* namespace wolf */
-
-#endif /* SENSOR_FACTORY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index b8e99a5a9141399aca063d2bca4adea9dc7c0747..ccfcb62b6684929d9ae5ee35988b7ba467510863 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef _WOLF_SOLVER_MANAGER_H_
-#define _WOLF_SOLVER_MANAGER_H_
+#pragma once
//wolf includes
#include "core/common/wolf.h"
@@ -45,19 +44,13 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsSolver)
* SolverManagerClass(const ProblemPtr& wolf_problem,
* const ParamsSolverClassPtr _params);
*/
-#define WOLF_SOLVER_CREATE(SolverClass, ParamsSolverClass) \
-static SolverManagerPtr create(const ProblemPtr& _problem, \
- const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ParamsSolverClass>(#SolverClass, _server); \
- return std::make_shared<SolverClass>(_problem, params); \
-} \
-static SolverManagerPtr create(const ProblemPtr& _problem, \
- const ParamsSolverPtr _params) \
-{ \
- auto params = std::static_pointer_cast<ParamsSolverClass>(_params); \
- return std::make_shared<SolverClass>(_problem, params); \
-} \
+#define WOLF_SOLVER_CREATE(SolverClass, ParamsSolverClass) \
+static SolverManagerPtr create(const ProblemPtr& _problem, \
+ const YAML::Node& _input_node) \
+{ \
+ auto params = std::make_shared<ParamsSolverClass>(_input_node); \
+ return std::make_shared<SolverClass>(_problem, params); \
+} \
struct ParamsSolver;
@@ -237,7 +230,6 @@ class SolverManager
// Params (here becaure it needs of declaration of SolverManager::ReportVerbosity)
struct ParamsSolver: public ParamsBase
{
- std::string prefix = "solver/";
double period = 0.0;
SolverManager::ReportVerbosity verbose = SolverManager::ReportVerbosity::QUIET;
bool compute_cov = false;
@@ -245,16 +237,16 @@ struct ParamsSolver: public ParamsBase
double cov_period = 1.0;
ParamsSolver() = default;
- ParamsSolver(std::string _unique_name, const ParamsServer& _server):
- ParamsBase(_unique_name, _server)
+ ParamsSolver(const YAML::Node& _input_node):
+ ParamsBase(_input_node)
{
- period = _server.getParam<double>(prefix + "period");
- verbose = (SolverManager::ReportVerbosity)_server.getParam<int>(prefix + "verbose");
- compute_cov = _server.getParam<bool>(prefix + "compute_cov");
+ period = _input_node["period"].as<double>();
+ verbose = (SolverManager::ReportVerbosity)_input_node["verbose"].as<int>();
+ compute_cov = _input_node["compute_cov"].as<bool>();
if (compute_cov)
{
- cov_enum = (SolverManager::CovarianceBlocksToBeComputed)_server.getParam<int>(prefix + "cov_enum");
- cov_period = _server.getParam<double>(prefix + "cov_period");
+ cov_enum = (SolverManager::CovarianceBlocksToBeComputed)_input_node["cov_enum"].as<int>();
+ cov_period = _input_node["cov_period"].as<double>();
}
}
std::string print() const override
@@ -269,6 +261,4 @@ struct ParamsSolver: public ParamsBase
~ParamsSolver() override = default;
};
-} // namespace wolf
-
-#endif /* _WOLF_SOLVER_MANAGER_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/ccolamd_ordering.h b/include/core/solver_suitesparse/ccolamd_ordering.h
index 4683373559f7df440b834c01c7552628e4f4b7b1..eee05794ae2aa545f1ccdd628ce628d99d2b005c 100644
--- a/include/core/solver_suitesparse/ccolamd_ordering.h
+++ b/include/core/solver_suitesparse/ccolamd_ordering.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * ccolamd_ordering.h
- *
- * Created on: Jun 12, 2015
- * Author: jvallve
- */
-
-#ifndef TRUNK_SRC_WOLF_SOLVER_CCOLAMD_ORDERING_H_
-#define TRUNK_SRC_WOLF_SOLVER_CCOLAMD_ORDERING_H_
+#pragma once
//std includes
#include <iostream>
@@ -96,6 +88,4 @@ class CCOLAMDOrdering
return info;
}
};
-}
-
-#endif /* TRUNK_SRC_WOLF_SOLVER_CCOLAMD_ORDERING_H_ */
+}
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index fb094beedc0868846edfdbce7a0c64ddce3fb6a6..8ae6a08f3349333e2fc19d3d87dbc285c3b5c723 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * cost_function_base.h
- *
- * Created on: Jun 25, 2015
- * Author: jvallve
- */
-
-#ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
-#define TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
+#pragma once
#include "core/common/wolf.h"
#include <Eigen/StdVector>
@@ -113,6 +105,4 @@ class CostFunctionBase
for (unsigned int i = 0; i<n_blocks_; i++)
jacobians.at(i) = (*jacobians_.at(i));
}
-};
-
-#endif /* TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_ */
+};
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index 43e367f4f0975b32f0cb9333ffbb5094bf9f56ab..9b18255db723ea21fed2844e85cb08e8dce996f5 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_
-#define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_
+#pragma once
//wolf includes
#include "core/common/wolf.h"
@@ -525,6 +524,4 @@ class CostFunctionSparse<FactorT,
}
};
-} //namespace wolf
-
-#endif /* TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_ */
+} //namespace wolf
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index 8c752208bf2eabd2981fa73c1de2b1ada8dfcefc..ae74f19a4804f5f3453df45cdd67c20b73b8aa95 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * cost_function_sparse.h
- *
- * Created on: Jun 25, 2015
- * Author: jvallve
- */
-
-#ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_
-#define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_
+#pragma once
//wolf includes
#include "core/common/wolf.h"
@@ -341,6 +333,4 @@ const unsigned int MEASUREMENT_SIZE,
jets_9_[i].a = *(factor_ptr_->getStateScalarPtrVector().at(9)+i);
}
-} // wolf namespace
-
-#endif /* TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_ */
+} // wolf namespace
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 83c392894a0a63b06c9b86a8d8b31907a2803bf9..f715761d8514009682066365cf67c59c72e227e3 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * qr_solver.h
- *
- * Created on: Jul 2, 2015
- * Author: jvallve
- */
-
-#ifndef TRUNK_SRC_SOLVER_QR_SOLVER_H_
-#define TRUNK_SRC_SOLVER_QR_SOLVER_H_
+#pragma once
//std includes
#include <core/factor/factor_odom_2d.h>
@@ -610,6 +602,4 @@ class SolverQR
}
};
-} // namespace wolf
-
-#endif /* TRUNK_SRC_SOLVER_QR_SOLVER_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/solver_QR.h b/include/core/solver_suitesparse/solver_QR.h
index 3f0f689fec8a1d3aefd293ac50b2a30515da2f1f..abece338f9c35b63c2fe5469dacfa5cee9d873a3 100644
--- a/include/core/solver_suitesparse/solver_QR.h
+++ b/include/core/solver_suitesparse/solver_QR.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * solver_QR.h
- *
- * Created on: Jun 22, 2015
- * Author: jvallve
- */
-
-#ifndef TRUNK_SRC_SOLVER_SOLVER_QR_H_
-#define TRUNK_SRC_SOLVER_SOLVER_QR_H_
+#pragma once
using namespace Eigen;
@@ -48,6 +40,4 @@ class SolverQR
VectorXi nodes_ordering_factors;
private:
-};
-
-#endif /* TRUNK_SRC_SOLVER_SOLVER_QR_H_ */
+};
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index f3baf950fc917017d26ecfe95213205c1a92cffc..9a0817573d0c5838781e72b8fb505a8af74299fd 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef CERES_MANAGER_H_
-#define CERES_MANAGER_H_
+#pragma once
//wolf includes
#include "core/factor/factor_GPS_2d.h"
@@ -64,6 +63,4 @@ class SolverManager
void updateStateUnitStatus(StateBlockPtr _st_ptr);
ceres::CostFunction* createCostFunction(FactorBasePtr _fac_ptr);
-};
-
-#endif
+};
\ No newline at end of file
diff --git a/include/core/solver_suitesparse/sparse_utils.h b/include/core/solver_suitesparse/sparse_utils.h
index 393a2fb275507aa1e9b5b6c67172a6b589be4f9f..4c0f01633c0a591d62c25daafd3029e10caccfee 100644
--- a/include/core/solver_suitesparse/sparse_utils.h
+++ b/include/core/solver_suitesparse/sparse_utils.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * sparse_utils.h
- *
- * Created on: Jul 2, 2015
- * Author: jvallve
- */
-
-#ifndef SPARSE_UTILS_H_
-#define SPARSE_UTILS_H_
+#pragma once
// eigen includes
#include <eigen3/Eigen/Sparse>
@@ -63,5 +55,4 @@ void insertSparseBlock(const Eigen::MatrixXd& ins, Eigen::SparseMatrixd& origina
original.makeCompressed();
}
-}
-#endif /* SPARSE_UTILS_H_ */
+}
\ No newline at end of file
diff --git a/include/core/state_block/factory_state_block.h b/include/core/state_block/factory_state_block.h
index c440584c0539625d93b4fa4bc5bbafaa1cad1461..ab77f4afa6d7ad4e6abb1e243afbbc7a7dab945d 100644
--- a/include/core/state_block/factory_state_block.h
+++ b/include/core/state_block/factory_state_block.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file factory_state_block.h
- *
- * Created on: Apr 27, 2020
- * \author: jsola
- */
-
-#ifndef STATE_BLOCK_FACTORY_STATE_BLOCK_H_
-#define STATE_BLOCK_FACTORY_STATE_BLOCK_H_
+#pragma once
#include "core/common/factory.h"
#include "core/state_block/state_block.h"
@@ -149,18 +141,12 @@ inline StateBlockPtr FactoryStateBlock::create(const string& _type, const Eigen:
return (creator_callback_it->second)(_state, _fixed);
}
-#define WOLF_REGISTER_STATEBLOCK(StateBlockType) \
- namespace{ const bool WOLF_UNUSED StateBlockType##Registered = \
- FactoryStateBlock::registerCreator(#StateBlockType, StateBlockType::create); } \
-
-#define WOLF_REGISTER_STATEBLOCK_WITH_KEY(Key, StateBlockType) \
- namespace{ const bool WOLF_UNUSED StateBlockType##RegisteredWith##Key = \
- FactoryStateBlock::registerCreator(#Key, StateBlockType::create); } \
-
-
-
-
-}
+#define WOLF_REGISTER_STATEBLOCK(StateBlockType) \
+ namespace{ const bool WOLF_UNUSED StateBlockType##Registered = \
+ FactoryStateBlock::registerCreator(#StateBlockType, StateBlockType::create); } \
+#define WOLF_REGISTER_STATEBLOCK_WITH_KEY(Key, StateBlockType) \
+ namespace{ const bool WOLF_UNUSED StateBlockType##RegisteredWith##Key = \
+ FactoryStateBlock::registerCreator(#Key, StateBlockType::create); } \
-#endif /* STATE_BLOCK_FACTORY_STATE_BLOCK_H_ */
+}
\ No newline at end of file
diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index e25e7d908a18a7b0989e4b9c91bf87cb18229266..5b936a73835aa5bd578b88b77462c091c9bbfbcf 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file has_state_blocks.h
- *
- * Created on: Aug 27, 2019
- * \author: jsola
- */
-
-#ifndef STATE_BLOCK_HAS_STATE_BLOCKS_H_
-#define STATE_BLOCK_HAS_STATE_BLOCKS_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/state_block/state_composite.h"
@@ -444,6 +436,4 @@ inline unsigned int HasStateBlocks::getLocalSize(const StateStructure& _structur
return size;
}
-} // namespace wolf
-
-#endif /* STATE_BLOCK_HAS_STATE_BLOCKS_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 62833a8b4565bf1d155d950edb121ab86c2b275b..fb371e94f94ea91f0742567c4fb5032f107c3659 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file local_parametrization_angle.h
- *
- * Created on: Apr 4, 2017
- * \author: jsola
- */
-
-#ifndef LOCAL_PARAMETRIZATION_ANGLE_H_
-#define LOCAL_PARAMETRIZATION_ANGLE_H_
+#pragma once
#include "core/state_block/local_parametrization_base.h"
#include "core/math/rotations.h"
@@ -92,6 +84,4 @@ inline bool LocalParametrizationAngle::isValid(const Eigen::VectorXd& _state, do
//Eigen::Map not Eigen::VectorXd
return true;
}
-} /* namespace wolf */
-
-#endif /* LOCAL_PARAMETRIZATION_ANGLE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index 435489cd3feaa83347fe0c20e5ade7d8b1a8d0ea..cbbb8ab1588fe582190cbbde92ed055abd676dc5 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file local_parametrization_base.h
- *
- * Created on: Feb 17, 2016
- * \author: jsola
- */
-
-#ifndef LOCAL_PARAMETRIZATION_BASE_H_
-#define LOCAL_PARAMETRIZATION_BASE_H_
+#pragma once
#include "core/common/wolf.h"
@@ -57,6 +49,4 @@ class LocalParametrizationBase{
unsigned int getGlobalSize() const;
};
-} // namespace wolf
-
-#endif /* LOCAL_PARAMETRIZATION_BASE_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index 476aceb79a8ab48b2cb43bbf148b732411a204ba..2b34c14ea2b1346623c2fbc5dfc44fc422871026 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file local_parametrization_homogeneous.h
- *
- * Created on: 24/02/2016
- * Author: jsola
- */
-
-#ifndef LOCALPARAMETRIZATIONHOMOGENEOUS_H_
-#define LOCALPARAMETRIZATIONHOMOGENEOUS_H_
+#pragma once
#include "core/state_block/local_parametrization_base.h"
@@ -71,6 +63,4 @@ class LocalParametrizationHomogeneous : public LocalParametrizationBase
bool isValid(const Eigen::VectorXd& state, double tolerance) override;
};
-} // namespace wolf
-
-#endif /* LOCALPARAMETRIZATIONHOMOGENEOUS_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index 70f4c3018b15c00fbfef5b95f14ad1a7a2907d1d..db50598f1c458c784a28cefb2c3cae1a105e01c4 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file local_parametrization_quaternion.h
- *
- * Created on: Feb 18, 2016
- * \author: jsola
- */
-
-#ifndef LOCAL_PARAMETRIZATION_QUATERNION_H_
-#define LOCAL_PARAMETRIZATION_QUATERNION_H_
+#pragma once
#include "core/state_block/local_parametrization_base.h"
@@ -105,6 +97,4 @@ public:
typedef LocalParametrizationQuaternion<DQ_GLOBAL> LocalParametrizationQuaternionGlobal;
typedef LocalParametrizationQuaternion<DQ_LOCAL> LocalParametrizationQuaternionLocal;
-} // namespace wolf
-
-#endif /* LOCAL_PARAMETRIZATION_QUATERNION_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/prior.h b/include/core/state_block/prior.h
index 38412c65d1048ba6929973086d93fed74fcb349f..0864028a49f99dd996b01b85aec6c1bf894753b4 100644
--- a/include/core/state_block/prior.h
+++ b/include/core/state_block/prior.h
@@ -19,55 +19,69 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PRIOR_H_
-#define PRIOR_H_
+#pragma once
#include <string>
#include <unordered_map>
#include <eigen3/Eigen/Dense>
+#include "yaml-cpp/yaml.h"
namespace wolf
{
-class ParamsServer;
-class Prior;
-typedef std::unordered_map<char, Prior> Priors;
class Prior
{
private:
- std::string type_; // State type
- Eigen::VectorXd state_; // state values
- std::string mode_; // Prior mode. Can be 'initial_guess', 'fix' or 'factor'
- Eigen::VectorXd noise_std_; // factor noise std, sqrt of the diagonal of the covariance mtrix (ONLY IF mode == 'factor')
- bool dynamic_; // State dynamic
- Eigen::VectorXd drift_std_; // OPTIONAL std of the state drift [in units/sqrt(s)] diagonal elements (ONLY IF if dynamic)
+ std::string type_; // State type
+ Eigen::VectorXd state_; // state values
+ std::string mode_; // Prior mode. Can be 'initial_guess', 'fix' or 'factor'
+ Eigen::VectorXd noise_std_; // factor noise std, sqrt of the diagonal of the covariance mtrix (ONLY IF mode == 'factor')
+ bool dynamic_; // State dynamic
+ Eigen::VectorXd drift_std_; // OPTIONAL std of the state drift [in units/sqrt(s)] diagonal elements (ONLY IF if dynamic)
public:
- Prior() = default;
- Prior(const std::string& _type,
- const Eigen::VectorXd& _state,
- const std::string& _mode = "fix",
- const Eigen::VectorXd& _noise_std = Eigen::VectorXd(0),
- bool _dynamic = false,
- const Eigen::VectorXd& _drift_std = Eigen::VectorXd(0));
-
- Prior(const std::string& _prefix, const std::string& _type, const ParamsServer& _server);
-
- virtual ~Prior() = default;
-
- const std::string& getType() const;
- const std::string& getMode() const;
- const Eigen::VectorXd& getState() const;
- const Eigen::VectorXd& getNoiseStd() const;
- bool isDynamic() const;
- bool isFixed() const;
- bool isInitialGuess() const;
- bool isFactor() const;
- const Eigen::VectorXd& getDriftStd() const;
-
- void check() const;
-
- virtual std::string print() const final;
+ Prior() = default;
+ Prior(const std::string& _type,
+ const Eigen::VectorXd& _state,
+ const std::string& _mode = "fix",
+ const Eigen::VectorXd& _noise_std = Eigen::VectorXd(0),
+ bool _dynamic = false,
+ const Eigen::VectorXd& _drift_std = Eigen::VectorXd(0));
+
+ Prior(const YAML::Node& prior_node);
+
+ virtual ~Prior() = default;
+
+ const std::string& getType() const;
+ const std::string& getMode() const;
+ const Eigen::VectorXd& getState() const;
+ const Eigen::VectorXd& getNoiseStd() const;
+ bool isDynamic() const;
+ bool isFixed() const;
+ bool isInitialGuess() const;
+ bool isFactor() const;
+ const Eigen::VectorXd& getDriftStd() const;
+
+ void check() const;
+
+ virtual std::string print() const final;
+};
+
+typedef std::unordered_map<char, Prior> PriorMap;
+
+class Priors : public PriorMap
+{
+ public:
+ using PriorMap::PriorMap;
+
+ Priors(const YAML::Node& priors_node)
+ {
+ for (auto prior_pair : priors_node)
+ {
+ this->emplace(prior_pair.first.as<char>(), Prior(prior_pair.second));
+ }
+ }
+ virtual ~Priors() = default;
};
inline const std::string& Prior::getType() const { return type_; }
@@ -87,5 +101,5 @@ inline bool Prior::isInitialGuess() const { return mode_ == "initial_guess"; }
inline bool Prior::isFactor() const { return mode_ == "factor"; }
inline const Eigen::VectorXd& Prior::getDriftStd() const { return drift_std_; }
-} // namespace wolf
-#endif
+
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index fe0fb46473f64743b17ee96d47143a2b00492ac7..ebe6b02c6c8c8e63e1d8f55836326f2eddd7d702 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file state_angle.h
- *
- * Created on: Apr 4, 2017
- * \author: jsola
- */
-
-#ifndef STATE_ANGLE_H_
-#define STATE_ANGLE_H_
+#pragma once
#include "core/state_block/state_block.h"
#include "core/state_block/local_parametrization_angle.h"
@@ -71,6 +63,4 @@ inline void StateAngle::transform(const VectorComposite& _transformation)
if (isTransformable()) setState(_transformation.at('O') + getState()); // 2D rotation is a sum of angles
}
-} /* namespace wolf */
-
-#endif /* STATE_ANGLE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 2572cc9b64a729f36496ac403fb18700846dc43c..dea672e85aa339355318892368e6ce3efc3c9f5e 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef STATE_BLOCK_H_
-#define STATE_BLOCK_H_
+#pragma once
// Fwd references
namespace wolf{
@@ -354,6 +352,5 @@ inline bool StateBlock::isValid(double tolerance)
{
return local_param_ptr_ ? local_param_ptr_->isValid(state_, tolerance) : true;
}
-}// namespace wolf
-#endif
+}// namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/state_block_derived.h b/include/core/state_block/state_block_derived.h
index 541b79a19453f34cedf13343de1caee2d2fca74b..13453f63c5d1e99b9306f7cf549a1a9488e2fcd4 100644
--- a/include/core/state_block/state_block_derived.h
+++ b/include/core/state_block/state_block_derived.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef STATE_BLOCK_DERIVED_H_
-#define STATE_BLOCK_DERIVED_H_
+#pragma once
#include "core/state_block/state_block.h"
@@ -149,6 +148,4 @@ class StateVector3d : public StateBlock
}
};
-} // namespace wolf
-
-#endif // STATE_BLOCK_DERIVED_H_
\ No newline at end of file
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index dcfa71155597334de8ff4a3daedbb760314f1856..2b18216ff1a1994b06b5bc6c8cf87928cf0038c1 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * state_composite.h
- *
- * Created on: Apr 6, 2020
- * Author: jsola
- */
-
-#ifndef STATE_BLOCK_STATE_COMPOSITE_H_
-#define STATE_BLOCK_STATE_COMPOSITE_H_
+#pragma once
#include "core/common/wolf.h"
@@ -379,7 +371,4 @@ inline StateBlockPtr wolf::StateBlockComposite::emplace(const char &_sb_type,
return sb;
}
-}
-
-
-#endif /* STATE_BLOCK_STATE_COMPOSITE_H_ */
+}
\ No newline at end of file
diff --git a/include/core/state_block/state_homogeneous_3d.h b/include/core/state_block/state_homogeneous_3d.h
index 8af6059aa6badcfc91665307e92df8fd9379694b..a576fa0ea2f4beb7aec0b8c49bfa8438e674a6d2 100644
--- a/include/core/state_block/state_homogeneous_3d.h
+++ b/include/core/state_block/state_homogeneous_3d.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file state_homogeneous_3d.h
- *
- * Created on: Mar 7, 2016
- * \author: jsola
- */
-
-#ifndef SRC_STATE_HOMOGENEOUS_3d_H_
-#define SRC_STATE_HOMOGENEOUS_3d_H_
+#pragma once
#include "core/state_block/state_block.h"
#include "core/state_block/local_parametrization_homogeneous.h"
@@ -91,6 +83,4 @@ inline StateBlockPtr StateHomogeneous3d::create (const Eigen::VectorXd& _state,
return std::make_shared<StateHomogeneous3d>(_state, _fixed);
}
-} // namespace wolf
-
-#endif /* SRC_STATE_HOMOGENEOUS_3d_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index ae7ed2f6381e9ce1149bff585df744d71e74b59e..718f3965da56e0258c0fd02f93edb3fea6dd4f68 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * \file StateQuaternion.h
- *
- * Created on: Mar 7, 2016
- * author: jsola
- */
-
-#ifndef SRC_STATE_QUATERNION_H_
-#define SRC_STATE_QUATERNION_H_
+#pragma once
#include "core/state_block/state_block.h"
#include "core/state_block/local_parametrization_quaternion.h"
@@ -107,6 +99,4 @@ inline StateBlockPtr StateQuaternion::create (const Eigen::VectorXd& _state, boo
return std::make_shared<StateQuaternion>(_state, _fixed);
}
-} // namespace wolf
-
-#endif /* SRC_STATE_QUATERNION_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 21b1ab5be7080da9334a979274d5f4513f9a23f0..2362b88ceb13901e5893fd1887fd43038856c283 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -19,9 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-
-#ifndef TRAJECTORY_BASE_H_
-#define TRAJECTORY_BASE_H_
+#pragma once
// Fwd refs
namespace wolf{
@@ -155,7 +153,4 @@ inline bool TrajectoryBase::hasFrame(FrameBaseConstPtr _frame) const
}) != frame_map_.end();
}
-
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/tree_manager/factory_tree_manager.h b/include/core/tree_manager/factory_tree_manager.h
index fe382c986c04656928e8aa6167d8a5f9aecc6cbc..edd9a44ef28783255afe3190e751ac92aa4c038e 100644
--- a/include/core/tree_manager/factory_tree_manager.h
+++ b/include/core/tree_manager/factory_tree_manager.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTORY_TREE_MANAGER_H_
-#define FACTORY_TREE_MANAGER_H_
+#pragma once
namespace wolf
{
@@ -35,53 +34,38 @@ struct ParamsTreeManagerBase;
namespace wolf
{
-/** \brief TreeManager factory class
- * TODO
- */
-// ParamsTreeManager factory
-struct ParamsTreeManagerBase;
-typedef Factory<ParamsTreeManagerBase,
- const std::string&> FactoryParamsTreeManager;
-template<>
-inline std::string FactoryParamsTreeManager::getClass() const
-{
- return "FactoryParamsTreeManager";
-}
-
-// TreeManager factory
typedef Factory<TreeManagerBase,
- ParamsTreeManagerBasePtr> FactoryTreeManager;
+ const YAML::Node&> FactoryTreeManager;
template<>
inline std::string FactoryTreeManager::getClass() const
{
- return "FactoryTreeManager";
+ return "FactoryTreeManager";
}
typedef Factory<TreeManagerBase,
- const ParamsServer&> FactoryTreeManagerServer;
+ const std::string&,
+ const std::vector<std::string>&> FactoryTreeManagerYaml;
template<>
-inline std::string FactoryTreeManagerServer::getClass() const
+inline std::string FactoryTreeManagerYaml::getClass() const
{
- return "FactoryTreeManagerServer";
+ return "FactoryTreeManagerYaml";
}
typedef Factory<TreeManagerBase,
- const std::string&> FactoryTreeManagerYaml;
+ ParamsTreeManagerBasePtr> FactoryTreeManagerParams;
template<>
-inline std::string FactoryTreeManagerYaml::getClass() const
+inline std::string FactoryTreeManagerParams::getClass() const
{
- return "FactoryTreeManagerYaml";
+ return "FactoryTreeManagerParams";
}
#define WOLF_REGISTER_TREE_MANAGER(TreeManagerType) \
namespace{ const bool WOLF_UNUSED TreeManagerType##Registered = \
wolf::FactoryTreeManager::registerCreator(#TreeManagerType, TreeManagerType::create); } \
- namespace{ const bool WOLF_UNUSED TreeManagerType##ServerRegistered = \
- wolf::FactoryTreeManagerServer::registerCreator(#TreeManagerType, TreeManagerType::create); } \
namespace{ const bool WOLF_UNUSED TreeManagerType##YamlRegistered = \
wolf::FactoryTreeManagerYaml::registerCreator(#TreeManagerType, TreeManagerType::create); } \
+ namespace{ const bool WOLF_UNUSED TreeManagerType##ParamsRegistered = \
+ wolf::FactoryTreeManagerParams::registerCreator(#TreeManagerType, TreeManagerType::create); } \
-} /* namespace wolf */
-
-#endif /* FACTORY_TREE_MANAGER_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/tree_manager/tree_manager_base.h b/include/core/tree_manager/tree_manager_base.h
index 5d3d9c76af15faf517e8894264e67e0488fdabc1..d979849a05cad59641f4f7550eb16138168685ff 100644
--- a/include/core/tree_manager/tree_manager_base.h
+++ b/include/core/tree_manager/tree_manager_base.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef INCLUDE_TREE_MANAGER_BASE_H_
-#define INCLUDE_TREE_MANAGER_BASE_H_
+#pragma once
// Wolf includes
#include "core/common/wolf.h"
@@ -40,37 +39,43 @@ namespace wolf
* must have a constructor available with the API:
*
* TreeManagerClass(const ParamsTreeManagerPtr _params);
+ *
+ * Also, there should be the schema file 'TreeManagerClass.schema' containing the specifications
+ * of the user input yaml file.
*/
-#define WOLF_TREE_MANAGER_CREATE(TreeManagerClass, ParamsTreeManagerClass) \
-static TreeManagerBasePtr create(const ParamsServer& _server) \
-{ \
- auto params = std::make_shared<ParamsTreeManagerClass>(_server); \
- \
- return std::make_shared<TreeManagerClass>(params); \
-} \
-static TreeManagerBasePtr create(ParamsTreeManagerBasePtr _params) \
-{ \
- auto params = std::static_pointer_cast<ParamsTreeManagerClass>(_params); \
- \
- return std::make_shared<TreeManagerClass>(params); \
-} \
-static TreeManagerBasePtr create(const std::string& _yaml_filepath) \
-{ \
- auto parser = ParserYaml(_yaml_filepath, true); \
- \
- auto server = ParamsServer(parser.getParams(), "problem/tree_manager/"); \
- \
- auto params = std::make_shared<ParamsTreeManagerClass>(server); \
- \
- return std::make_shared<TreeManagerClass>(params); \
-} \
+#define WOLF_TREE_MANAGER_CREATE(TreeManagerClass, ParamsTreeManagerClass) \
+static TreeManagerBasePtr create(const YAML::Node& _input_node) \
+{ \
+ auto params = std::make_shared<ParamsTreeManagerClass>(_input_node); \
+ \
+ return std::make_shared<TreeManagerClass>(params); \
+} \
+static TreeManagerBasePtr create(const std::string& _yaml_filepath, \
+ const std::vector<std::string>& _folders_schema) \
+{ \
+ auto server = yaml_schema_cpp::YamlServer(_folders_schema, _yaml_filepath); \
+ \
+ if (not server.validate(#TreeManagerClass)) \
+ { \
+ WOLF_ERROR(server.getLog().str()); \
+ return nullptr; \
+ } \
+ auto params = std::make_shared<ParamsTreeManagerClass>(server.getNode()); \
+ \
+ return std::make_shared<TreeManagerClass>(params); \
+} \
+static TreeManagerBasePtr create(ParamsTreeManagerBasePtr _params) \
+{ \
+ auto params = std::static_pointer_cast<ParamsTreeManagerClass>(_params); \
+ \
+ return std::make_shared<TreeManagerClass>(params); \
+} \
struct ParamsTreeManagerBase : public ParamsBase
{
- std::string prefix = "problem/tree_manager";
ParamsTreeManagerBase() = default;
- ParamsTreeManagerBase(const ParamsServer& _server):
- ParamsBase("tree_manager", _server)
+ ParamsTreeManagerBase(const YAML::Node& _input_node):
+ ParamsBase(_input_node)
{
}
@@ -98,6 +103,4 @@ class TreeManagerBase : public NodeBase
ParamsTreeManagerBasePtr params_;
};
-} /* namespace wolf */
-
-#endif /* INCLUDE_TREE_MANAGER_BASE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/tree_manager/tree_manager_sliding_window.h b/include/core/tree_manager/tree_manager_sliding_window.h
index 65f650c627b153f362b02a881560cbc6b043a97d..9585cc595ee3841d09e42ddc3d57b2c346bc68c7 100644
--- a/include/core/tree_manager/tree_manager_sliding_window.h
+++ b/include/core/tree_manager/tree_manager_sliding_window.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
-#define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_
+#pragma once
#include "core/tree_manager/tree_manager_base.h"
@@ -33,12 +32,12 @@ WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindow)
struct ParamsTreeManagerSlidingWindow : public ParamsTreeManagerBase
{
ParamsTreeManagerSlidingWindow() = default;
- ParamsTreeManagerSlidingWindow(const wolf::ParamsServer & _server) :
- ParamsTreeManagerBase(_server)
+ ParamsTreeManagerSlidingWindow(const YAML::Node& _node_input) :
+ ParamsTreeManagerBase(_node_input)
{
- n_frames = _server.getParam<unsigned int>(prefix + "/n_frames");
- n_fix_first_frames = _server.getParam<unsigned int>(prefix + "/n_fix_first_frames");
- viral_remove_empty_parent = _server.getParam<bool> (prefix + "/viral_remove_empty_parent");
+ n_frames = _node_input["n_frames"] .as<unsigned int>();
+ n_fix_first_frames = _node_input["n_fix_first_frames"] .as<unsigned int>();
+ viral_remove_empty_parent = _node_input["viral_remove_empty_parent"] .as<bool>();
if (n_frames <= n_fix_first_frames)
throw std::runtime_error("TreeManagerSlidingWindow: Wrong parameter value. 'n_fix_first_frames' should be lower than 'n_frames'!");
}
@@ -72,6 +71,4 @@ class TreeManagerSlidingWindow : public TreeManagerBase
ParamsTreeManagerSlidingWindowPtr params_sw_;
};
-} /* namespace wolf */
-
-#endif /* INCLUDE_TREE_MANAGER_SLIDING_WINDOW_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index a4f9a0fa721f19866015585bbffbbbe852864fae..511a56d6206c3b907c0ce0901cdc41299860ff84 100644
--- a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
-#define INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_
+#pragma once
#include "core/tree_manager/tree_manager_sliding_window.h"
@@ -33,12 +32,15 @@ WOLF_PTR_TYPEDEFS(TreeManagerSlidingWindowDualRate)
struct ParamsTreeManagerSlidingWindowDualRate : public ParamsTreeManagerSlidingWindow
{
ParamsTreeManagerSlidingWindowDualRate() = default;
- ParamsTreeManagerSlidingWindowDualRate(const wolf::ParamsServer & _server) :
- ParamsTreeManagerSlidingWindow(_server)
+ ParamsTreeManagerSlidingWindowDualRate(const YAML::Node& _input_node) :
+ ParamsTreeManagerSlidingWindow(_input_node)
{
- n_frames_recent = _server.getParam<unsigned int>(prefix + "/n_frames_recent");
- assert(n_frames_recent <= n_frames);
- rate_old_frames = _server.getParam<unsigned int>(prefix + "/rate_old_frames");
+ n_frames_recent = _input_node["n_frames_recent"].as<unsigned int>();
+ rate_old_frames = _input_node["rate_old_frames"].as<unsigned int>();
+ if (n_frames_recent >= n_frames)
+ {
+ throw std::runtime_error("ParamsTreeManagerSlidingWindowDualRate: 'n_frames_recent' should be smaller than 'n_frames'");
+ }
}
std::string print() const override
{
@@ -67,6 +69,4 @@ class TreeManagerSlidingWindowDualRate : public TreeManagerSlidingWindow
//TrajectoryIter first_recent_frame_it_;
};
-} /* namespace wolf */
-
-#endif /* INCLUDE_TREE_MANAGER_SLIDING_WINDOW_DUAL_RATE_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/include/core/utils/check_log.h b/include/core/utils/check_log.h
index 947a53175be061589f460577666d765fdfc7a0e4..bd9b67c745dafc6f748616d046f98b8e9294c8c4 100644
--- a/include/core/utils/check_log.h
+++ b/include/core/utils/check_log.h
@@ -19,8 +19,8 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef CHECK_LOG_H
-#define CHECK_LOG_H
+#pragma once
+
#include <iostream>
#include <string>
#include <sstream>
@@ -39,5 +39,5 @@ class CheckLog
void compose(CheckLog l);
void assertTrue(bool _condition, std::stringstream& _stream);
};
-} // namespace wolf
-#endif
+
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/utils/converter.h b/include/core/utils/converter.h
index 0e2fd206dc03fdc325bf1f901d0294a1b8bdc44a..f989149fb1176e0d0c2df9af9bfad8d16970dccd 100644
--- a/include/core/utils/converter.h
+++ b/include/core/utils/converter.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef CONVERTER_H
-#define CONVERTER_H
+#pragma once
// wolf
#include "core/common/wolf.h"
@@ -409,5 +408,4 @@ struct converter<MatrixComposite>{
return helper;
}
};
-}
-#endif
+}
\ No newline at end of file
diff --git a/include/core/utils/converter_utils.h b/include/core/utils/converter_utils.h
index 36d67b012337334b2ab26d42fb87cc134fb70b3a..2e3bca6104f1572576855aa75408289b0f79da1b 100644
--- a/include/core/utils/converter_utils.h
+++ b/include/core/utils/converter_utils.h
@@ -19,13 +19,11 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef CONVERTER_UTILS_H
-#define CONVERTER_UTILS_H
+#pragma once
// wolf
#include "core/common/wolf.h"
-
// std
#include <regex>
namespace utils{
@@ -63,5 +61,4 @@ namespace utils{
*/
std::string splitMapStringRepresentation(std::string str_map);
std::vector<std::string> parseList(std::string val);
-}
-#endif
+}
\ No newline at end of file
diff --git a/include/core/utils/eigen_assert.h b/include/core/utils/eigen_assert.h
index fcd44023d307b8fd02403d7be2c2df752b5772b6..76f3880abaf762a579571005bbf29c22c527f98c 100644
--- a/include/core/utils/eigen_assert.h
+++ b/include/core/utils/eigen_assert.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef _WOLF_EIGEN_ASSERT_H_
-#define _WOLF_EIGEN_ASSERT_H_
+#pragma once
#include <Eigen/Dense>
@@ -105,6 +104,4 @@ using VectorSizeCheck = MatrixSizeCheck<Dim, 1>;
template <int Dim>
using RowVectorSizeCheck = MatrixSizeCheck<1, Dim>;
-} /* namespace Eigen */
-
-#endif /* _WOLF_EIGEN_ASSERT_H_ */
+} /* namespace Eigen */
\ No newline at end of file
diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index 549c1f1dec8f5b45579904ac5ec1f0adebbca593..bbd477b5ca0d6a31eef58b9eebe6fb03841ce476 100644
--- a/include/core/utils/graph_search.h
+++ b/include/core/utils/graph_search.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef GRAPH_SEARCH_H
-#define GRAPH_SEARCH_H
+#pragma once
#include "core/common/wolf.h"
#include "core/frame/frame_base.h"
@@ -60,6 +59,4 @@ class GraphSearch
};
-
-} // namespace wolf
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/utils/loader.h b/include/core/utils/loader.h
index 13fe987d736a47d50a52de2d86f519c3cea1a63b..2bf505cef691d794d7821e7db935dfaa3b0c18d1 100644
--- a/include/core/utils/loader.h
+++ b/include/core/utils/loader.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef LOADER_H
-#define LOADER_H
+#pragma once
#include <string>
@@ -49,5 +48,4 @@ public:
// void close(){
// delete this->resource_;
// }
-// };
-#endif
+// };
\ No newline at end of file
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index a0e1556898fd453f5543ba90ec3645ccf282525c..66b44b4c9f036f0d5a6eede98640c78e85f34db8 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file logging.h
- *
- * Created on: Oct 27, 2016
- * \author: Jeremie Deray
- */
-
-#ifndef WOLF_LOGGING_H_
-#define WOLF_LOGGING_H_
+#pragma once
// third_party include
#include <map>
@@ -339,6 +331,4 @@ using WolfLoggerManager = Singleton<do_not_enter_where_the_wolf_lives::LoggerMan
#else
#define WOLF_TRACE(...)
#define WOLF_TRACE_COND(cond, ...)
-#endif
-
-#endif /* WOLF_LOGGING_H_ */
+#endif
\ No newline at end of file
diff --git a/include/core/utils/params_server.h b/include/core/utils/params_server.h
index 2ca64f4cc97f11e81616ca716835be2b4681b8d8..812f39e24995176d0eed792564d687a974e32680 100644
--- a/include/core/utils/params_server.h
+++ b/include/core/utils/params_server.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PARAMS_SERVER_H
-#define PARAMS_SERVER_H
+#pragma once
#include "core/utils/converter.h"
@@ -69,33 +68,9 @@ class ParamsServer
}
};
-template<typename Derived>
-std::string toString(const Eigen::DenseBase<Derived>& mat)
-{
- std::stringstream ss;
- if (mat.cols() == 1)
- ss << mat.transpose();
- else
- ss << std::endl << mat;
- return ss.str();
-}
-
-std::string toString(bool _arg);
-std::string toString(int _arg);
-std::string toString(long _arg);
-std::string toString(long long _arg);
-std::string toString(unsigned _arg);
-std::string toString(unsigned long _arg);
-std::string toString(unsigned long long _arg);
-std::string toString(float _arg);
-std::string toString(double _arg);
-std::string toString(long double _arg);
-
inline bool ParamsServer::hasParam(std::string _key) const
{
return params_.count(_key);
}
-}
-
-#endif
+}
\ No newline at end of file
diff --git a/include/core/utils/singleton.h b/include/core/utils/singleton.h
index edbaa1b5424280f921595859ec9199e4e2a2f863..a8e8840b37c29d56d04a1150200dfdd9bd935cf5 100644
--- a/include/core/utils/singleton.h
+++ b/include/core/utils/singleton.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file singleton.h
- *
- * Created on: Aug 31, 2016
- * \author: Jeremie Deray
- */
-
-#ifndef WOLF_SINGLETON_H_
-#define WOLF_SINGLETON_H_
+#pragma once
#include <memory>
@@ -66,6 +58,4 @@ protected:
};
} // namespace internal
-} // namespace wolf
-
-#endif /* WOLF_SINGLETON_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/include/core/utils/utils_gtest.h b/include/core/utils/utils_gtest.h
index 04eae1ca305801665b5e3fcea22610da7f06026e..905f25c8b26a3fa1caa79cb6e72be4f6d07cfcc1 100644
--- a/include/core/utils/utils_gtest.h
+++ b/include/core/utils/utils_gtest.h
@@ -19,16 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file utils_gtest.h
- * \brief Some utils for gtest
- * \author Jeremie Deray
- * Created on: 26/09/2016
- * Eigen macros extension by: Joan Sola on 26/04/2017
- */
-
-#ifndef WOLF_UTILS_GTEST_H
-#define WOLF_UTILS_GTEST_H
+#pragma once
#include <gtest/gtest.h>
@@ -198,6 +189,4 @@ TEST(Test, Foo)
}, \
C_expect, C_actual);
-} // namespace testing
-
-#endif /* WOLF_UTILS_GTEST_H */
+} // namespace testing
\ No newline at end of file
diff --git a/include/core/yaml/parser_yaml.h b/include/core/yaml/parser_yaml.h
index e5ee7ed523c8f726c484e8a7f499d546f06eb867..a79a36ac23fe70c75376dc8eb60e1be411276015 100644
--- a/include/core/yaml/parser_yaml.h
+++ b/include/core/yaml/parser_yaml.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef PARSER_YAML_H
-#define PARSER_YAML_H
+#pragma once
#include "core/utils/converter.h"
#include "core/common/wolf.h"
@@ -98,5 +97,4 @@ public:
std::string tagsToString(std::vector<std::string>& _tags);
void parse();
};
-}
-#endif
+}
\ No newline at end of file
diff --git a/include/core/yaml/yaml_conversion.h b/include/core/yaml/yaml_conversion.h
index 76991419a0ec370174055479cbb9dfdb910e0356..15dad4cd0b8264950cd3090b83c9c94c78241c19 100644
--- a/include/core/yaml/yaml_conversion.h
+++ b/include/core/yaml/yaml_conversion.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file yaml_conversion.h
- *
- * Created on: May 12, 2016
- * \author: jsola
- */
-
-#ifndef YAML_YAML_CONVERSION_H_
-#define YAML_YAML_CONVERSION_H_
+#pragma once
// Yaml
#include <yaml-cpp/yaml.h>
@@ -230,6 +222,4 @@ struct convert<Eigen::Quaternion<_Scalar, _Options> >
}
};
-} // namespace YAML
-
-#endif /* YAML_YAML_CONVERSION_H_ */
+} // namespace YAML
\ No newline at end of file
diff --git a/internal/config.h.in b/internal/config.h.in
index 8f0d62ec930e2db6e5f4bc874126b8e0787eb856..50b39488d474b6ac73aa51ece7be5c7bd44083ed 100644
--- a/internal/config.h.in
+++ b/internal/config.h.in
@@ -24,8 +24,7 @@
// which will be added to the include path for compilation,
// and installed with the public wolf headers.
-#ifndef WOLF_INTERNAL_CONFIG_H_
-#define WOLF_INTERNAL_CONFIG_H_
+#pragma once
#cmakedefine _WOLF_DEBUG
@@ -33,5 +32,4 @@
#define _WOLF_ROOT_DIR "${_WOLF_ROOT_DIR}"
#define _WOLF_LIB_DIR "${_WOLF_LIB_DIR}"
-
-#endif /* WOLF_INTERNAL_CONFIG_H_ */
+#define _WOLF_SCHEMAS_DIR "${CMAKE_INSTALL_PREFIX}/${INCLUDE_INSTALL_DIR}/schemas"
\ No newline at end of file
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 66367305a0b9ad82e9ef5987c3bdacb9e9a1eeea..ebd6038e83a51604023853e17d78dede44e8e34d 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -163,6 +163,5 @@ bool MapBase::check(CheckLog& _log, NodeBaseConstPtr _node_ptr, bool _verbose, s
#include "core/map/factory_map.h"
namespace wolf {
WOLF_REGISTER_MAP(MapBase);
-WOLF_REGISTER_MAP_AUTO(MapBase);
} // namespace wolf
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index f99e9d8cd77cd862a3da9b3dbe5184c246d40530..d839895ba7bc3957e11b85e4e5f3753660845e5f 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -21,6 +21,7 @@
//--------LICENSE_END--------
// wolf includes
#include "core/problem/problem.h"
+#include "core/internal/config.h"
#include "core/map/factory_map.h"
#include "core/sensor/factory_sensor.h"
#include "core/processor/factory_processor.h"
@@ -33,6 +34,9 @@
#include "core/tree_manager/tree_manager_base.h"
#include "core/utils/loader.h"
+// yaml-schema-cpp
+#include "yaml-schema-cpp/yaml_server.hpp"
+#include "yaml-schema-cpp/yaml_schema.hpp"
namespace wolf
{
@@ -84,233 +88,222 @@ ProblemPtr Problem::create(const std::string& _frame_structure, SizeEigen _dim,
return p->shared_from_this();
}
-ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, std::vector<std::string> _schema_folders)
+ProblemPtr Problem::autoSetup(const std::string& _input_yaml_file, const std::vector<std::string>& _primary_schema_folders)
{
-#if __APPLE__
- std::string lib_extension = ".dylib";
-#else
- std::string lib_extension = ".so";
-#endif
-
- // Create yaml server
- auto server = yaml_schema_cpp::YamlServer({}, _input_yaml_file);
-
- // get all plugins
- auto plugins_nodes = yaml_schema_cpp::findNodesWithKey(server.getNode(),"plugins");
-
-
- std::stringstream log;
- if (not server.validate(SensorClass, log))
- {
- WOLF_ERROR(log.str());
- return nullptr;
- }
- auto params = std::make_shared<ParamsSensorClass>(server.getNode())
- // Problem structure and dimension
- std::string frame_structure = _server.getParam<std::string> ("problem/frame_structure");
- int dim = _server.getParam<int> ("problem/dimension");
- auto problem = Problem::create(frame_structure, dim, nullptr);
-
- WOLF_TRACE("Setting up problem with frame structure {" + frame_structure + "} and dimension " + std::to_string(dim) + "D");
-
- // Load plugins
- auto loaders = std::vector<std::shared_ptr<Loader>>();
+ // Loaders
+ auto loaders = std::list<std::shared_ptr<Loader>>();
std::string plugins_path = _WOLF_LIB_DIR;
if (plugins_path.back() != '/')
{
plugins_path += '/'; // only works for UNIX systems
}
- for (auto plugin_name : _server.getParam<std::vector<std::string>>("plugins"))
- {
- if (plugin_name == "core" or plugin_name == "wolf" or plugin_name == "") continue; // ignore plugin "core"
+ // // get all plugins
+ // auto plugins_nodes = yaml_schema_cpp::findNodesWithKey(server.getNode(),"plugins");
+ // std::set<std::string> plugins;
+ // for (auto plugin_n : plugins_nodes)
+ // {
+ // if (not plugin_n.IsScalar() and not yaml_schema_cpp::checkType(plugin_n, "string"))
+ // {
+ // throw std::runtime_error("Problem::autoSetup: there is one 'plugin' param that is not a string.")
+ // }
+ // // plugin string
+ // auto plugin_str = plugin_n.as<std::string>();
+ // if (plugins.count(plugin_str) == 0)
+ // {
+ // plugins.insert(plugin_str);
+ // }
+ // }
+
+ // Schema folders
+ std::vector<std::string> schema_folders = _primary_schema_folders;
+ schema_folders.push_back(_WOLF_SCHEMAS_DIR);
- std::string plugin = plugins_path + "libwolf" + plugin_name + lib_extension;
- WOLF_TRACE("Loading plugin " + plugin_name + " via " + plugin);
- auto l = std::make_shared<LoaderRaw>(plugin);
- l->load();
- loaders.push_back(l);
- }
+ // Create yaml server
+ auto server = yaml_schema_cpp::YamlServer(schema_folders, _input_yaml_file);
- // load raw libs
- std::vector<std::string> raw_libs;
- try
- {
- raw_libs = _server.getParam<std::vector<std::string>>("raw_libs");
+ // Validate agains schema files
+ if (not server.validate("Problem.schema"))
+ {
+ WOLF_ERROR(server.getLog().str());
+ return nullptr;
}
- catch (MissingValueException& e)
- {
- WOLF_TRACE("No raw libraries to load...");
- }
- for (auto lib : raw_libs) {
- WOLF_TRACE("Loading raw lib " + lib);
- auto l = std::make_shared<LoaderRaw>(lib);
- l->load();
- loaders.push_back(l);
- }
- // Install sensors and processors -- load plugins only if sensors and processor are not registered
- auto sensors = _server.getParam<std::vector<std::map<std::string, std::string>>>("sensors");
- for (auto sen : sensors)
+ // Get param node
+ YAML::Node param_node = server.getNode();
+
+ // PROBLEM ===============================================================================
+ // structure and dimension
+ YAML::Node problem_node = param_node["problem"];
+ std::string frame_structure = problem_node["frame_structure"].as<std::string>();
+ int dim = problem_node["dimension"].as<int>();
+ auto problem = Problem::create(frame_structure, dim, nullptr);
+
+ // Tree manager
+ YAML::Node tree_manager_node = problem_node["tree_manager"];
+ std::string tree_manager_type = tree_manager_node["type"].as<std::string>();
+ problem->setTreeManager(FactoryTreeManager::create(tree_manager_type, tree_manager_node));
+
+ // TODO: Prior -- first keyframe
+ // std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");
+ // assert((prior_mode == "nothing" || prior_mode == "initial_guess" || prior_mode == "fix" || prior_mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
+ // WOLF_TRACE("Prior mode: ", prior_mode);
+ // if (prior_mode == "nothing")
+ // {
+ // problem->setPriorOptions(prior_mode);
+ // }
+ // else if (prior_mode == "factor")
+ // {
+ // problem->setPriorOptions(prior_mode,
+ // _server.getParam<VectorComposite>("problem/prior/state"),
+ // _server.getParam<VectorComposite>("problem/prior/sigma"));
+ // }
+ // else
+ // {
+ // problem->setPriorOptions(prior_mode,
+ // _server.getParam<VectorComposite>("problem/prior/state"));
+ // }
+ // WOLF_TRACE("Setting up problem with frame structure {" + frame_structure + "} and dimension " + std::to_string(dim) + "D");
+
+ // SENSORS ===============================================================================
+ // load plugin if sensor is not registered
+ YAML::Node sensors_node = param_node["sensors"];
+ for (auto sensor_n : sensors_node)
{
- if (not FactorySensor::isCreatorRegistered(sen["type"]))
+ auto sensor_type = sensor_n["type"].as<std::string>();
+ if (not FactorySensor::isCreatorRegistered(sensor_type))
{
- auto plugin_name = sen["plugin"];
- std::string plugin = plugins_path + "libwolf" + plugin_name + lib_extension;
- WOLF_TRACE("Loading plugin " + plugin_name + " via " + plugin);
- auto l = std::make_shared<LoaderRaw>(plugin);
- l->load();
- loaders.push_back(l);
+ loadPlugin(sensor_n["plugin"].as<std::string>(), plugins_path, loaders);
}
- problem->installSensor(sen["type"], sen["name"], _server);
+ problem->installSensor(sensor_n);
}
- auto processors = _server.getParam<std::vector<std::map<std::string, std::string>>>("processors");
- for (auto prc : processors)
+
+ // PROCESSORS ===============================================================================
+ // load plugin if processor is not registered
+ YAML::Node processors_node = param_node["processors"];
+ for (auto processor_n : processors_node)
{
- if (not FactoryProcessor::isCreatorRegistered(prc["type"]))
+ auto processor_type = processor_n["type"].as<std::string>();
+ if (not FactoryProcessor::isCreatorRegistered(processor_type))
{
- auto plugin_name = prc["plugin"];
- std::string plugin = plugins_path + "libwolf" + plugin_name + lib_extension;
- WOLF_TRACE("Loading plugin " + plugin_name + " via " + plugin);
- auto l = std::make_shared<LoaderRaw>(plugin);
- l->load();
- loaders.push_back(l);
+ loadPlugin(processor_n["plugin"].as<std::string>(), plugins_path, loaders);
}
- problem->installProcessor(prc["type"], prc["name"], prc["sensor_name"], _server);
+ problem->installProcessor(processor_n);
}
- // Map (optional)
- std::string map_type, map_plugin;
- try
+ // MAP (optional) ===============================================================================
+ // Default MapBase
+ if (not param_node["map"])
{
- map_type = _server.getParam<std::string>("map/type");
- map_plugin = _server.getParam<std::string>("map/plugin");
- }
- catch (MissingValueException& e)
+ param_node["map"]["type"] = "MapBase";
+ }
+ // load plugin if map is not registered
+ YAML::Node map_node = param_node["map"];
+ auto map_type = map_node["type"].as<std::string>();
+ if (not FactoryMap::isCreatorRegistered(map_type))
{
- WOLF_TRACE("No map/type and/or map/plugin specified. Emplacing the default map: MapBase.");
- map_type = "MapBase";
- map_plugin = "core";
+ loadPlugin(map_node["plugin"].as<std::string>(), plugins_path, loaders);
}
- WOLF_TRACE("Map Type: ", map_type, " in plugin ", map_plugin);
-
- auto map = AutoConfFactoryMap::create(map_type, _server);
+ WOLF_TRACE("Map Type: ", map_type);
+ auto map = FactoryMap::create(map_type, map_node);
map->setProblem(problem);
problem->setMap(map);
- // Tree manager
- std::string tree_manager_type = _server.getParam<std::string>("problem/tree_manager/type");
- WOLF_TRACE("Tree Manager Type: ", tree_manager_type);
- if (tree_manager_type != "None" and tree_manager_type != "none")
- problem->setTreeManager(FactoryTreeManagerServer::create(tree_manager_type, _server));
-
- // Set problem prior -- first keyframe
- std::string prior_mode = _server.getParam<std::string>("problem/prior/mode");
- assert((prior_mode == "nothing" || prior_mode == "initial_guess" || prior_mode == "fix" || prior_mode == "factor") && "wrong _mode value, it should be: 'nothing', 'initial_guess', 'fix' or 'factor'");
- WOLF_TRACE("Prior mode: ", prior_mode);
- if (prior_mode == "nothing")
- {
- problem->setPriorOptions(prior_mode);
- }
- else if (prior_mode == "factor")
- {
- problem->setPriorOptions(prior_mode,
- _server.getParam<VectorComposite>("problem/prior/state"),
- _server.getParam<VectorComposite>("problem/prior/sigma"));
- }
- else
- {
- problem->setPriorOptions(prior_mode,
- _server.getParam<VectorComposite>("problem/prior/state"));
- }
// Done
return problem;
}
+void Problem::loadPlugin(const std::string& plugin_name,
+ const std::string& plugins_path,
+ std::list<std::shared_ptr<Loader>>& loaders)
+{
+#if __APPLE__
+ std::string lib_extension = ".dylib";
+#else
+ std::string lib_extension = ".so";
+#endif
+
+ std::string plugin = plugins_path + "libwolf" + plugin_name + lib_extension;
+ WOLF_TRACE("Loading plugin " + plugin_name + " via " + plugin);
+ auto l = std::make_shared<LoaderRaw>(plugin);
+ l->load();
+ loaders.push_back(l);
+}
+
Problem::~Problem()
{
// WOLF_DEBUG("destructed -P");
}
-SensorBasePtr Problem::installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- ParamsSensorBasePtr _params,
- const Priors& _priors)
+SensorBasePtr Problem::installSensor(const YAML::Node& _sensor_node)
{
- SensorBasePtr sen_ptr = FactorySensorPriors::create(_sen_type,
- _unique_sensor_name,
- dim_,
- _params,
- _priors);
+ SensorBasePtr sen_ptr = FactorySensor::create(_sensor_node["type"].as<std::string>(), dim_, _sensor_node);
sen_ptr->link(getHardware());
return sen_ptr;
}
SensorBasePtr Problem::installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- const std::string& _params_yaml_filename)
+ const std::string& _params_yaml_filename,
+ const std::vector<std::string>& _folders_schema)
{
if (_params_yaml_filename == "" or not file_exists(_params_yaml_filename))
{
throw std::runtime_error("Cannot install sensor: provided params YAML file: '" + _params_yaml_filename + "' does not exist.");
}
SensorBasePtr sen_ptr = FactorySensorYaml::create(_sen_type,
- _unique_sensor_name,
dim_,
- _params_yaml_filename);
+ _params_yaml_filename,
+ _folders_schema);
sen_ptr->link(getHardware());
return sen_ptr;
}
SensorBasePtr Problem::installSensor(const std::string& _sen_type,
- const std::string& _unique_sensor_name,
- const ParamsServer& _server)
+ ParamsSensorBasePtr _params,
+ const Priors& _priors)
{
- SensorBasePtr sen_ptr = FactorySensor::create(_sen_type, _unique_sensor_name, dim_, _server);
+ SensorBasePtr sen_ptr = FactorySensorPriors::create(_sen_type,
+ dim_,
+ _params,
+ _priors);
sen_ptr->link(getHardware());
return sen_ptr;
}
-ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
- const std::string& _unique_processor_name,
- SensorBasePtr _corresponding_sensor_ptr,
- ParamsProcessorBasePtr _prc_params)
+ProcessorBasePtr Problem::installProcessor(const YAML::Node& _processor_node)
{
- if (_corresponding_sensor_ptr == nullptr)
- {
- WOLF_ERROR("Cannot install processor '", _unique_processor_name,
- "' since the associated sensor does not exist !");
- return ProcessorBasePtr();
- }
+ auto corresponding_sensor_name = _processor_node["sensor_name"].as<std::string>();
+ 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!");
- ProcessorBasePtr prc_ptr = FactoryProcessor::create(_prc_type, _unique_processor_name, _prc_params);
+ auto processor_type = _processor_node["type"].as<std::string>();
+ ProcessorBasePtr prc_ptr = FactoryProcessor::create(processor_type, _processor_node);
//Dimension check
int prc_dim = prc_ptr->getDim();
auto prb = this;
assert(((prc_dim == 0) or (prc_dim == prb->getDim())) && "Processor and Problem do not agree on dimension");
- prc_ptr->configure(_corresponding_sensor_ptr);
- prc_ptr->link(_corresponding_sensor_ptr);
+ prc_ptr->configure(sen_ptr);
+ prc_ptr->link(sen_ptr);
return prc_ptr;
}
-ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
- const std::string& _unique_processor_name, //
- const std::string& _corresponding_sensor_name, //
- const std::string& _params_filename)
+ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
+ const std::string& _corresponding_sensor_name,
+ const std::string& _params_yaml_filename,
+ const std::vector<std::string>& _folders_schema)
{
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 == "")
- return installProcessor(_prc_type, _unique_processor_name, sen_ptr, nullptr);
- if (not file_exists(_params_filename))
- throw std::runtime_error("Cannot install processor: parameters' YAML file does not exist: " + _params_filename);
+ if (not file_exists(_params_yaml_filename))
+ throw std::runtime_error("Cannot install processor: parameters' YAML file does not exist: " + _params_yaml_filename);
- ProcessorBasePtr prc_ptr = FactoryProcessorYaml::create(_prc_type, _unique_processor_name, _params_filename);
+ ProcessorBasePtr prc_ptr = FactoryProcessorYaml::create(_prc_type, _params_yaml_filename, _folders_schema);
//Dimension check
int prc_dim = prc_ptr->getDim();
@@ -323,24 +316,26 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
return prc_ptr;
}
-ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
- const std::string& _unique_processor_name, //
- const std::string& _corresponding_sensor_name, //
- const ParamsServer& _server)
+ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
+ SensorBasePtr _corresponding_sensor_ptr,
+ ParamsProcessorBasePtr _prc_params)
{
- 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 (_corresponding_sensor_ptr == nullptr)
+ {
+ WOLF_ERROR("Cannot install processor '", _prc_params->name,
+ "' since the associated sensor does not exist !");
+ return ProcessorBasePtr();
+ }
- ProcessorBasePtr prc_ptr = FactoryProcessorServer::create(_prc_type, _unique_processor_name, _server);
+ ProcessorBasePtr prc_ptr = FactoryProcessorParams::create(_prc_type, _prc_params);
//Dimension check
int prc_dim = prc_ptr->getDim();
auto prb = this;
assert(((prc_dim == 0) or (prc_dim == prb->getDim())) && "Processor and Problem do not agree on dimension");
- prc_ptr->configure(sen_ptr);
- prc_ptr->link(sen_ptr);
+ prc_ptr->configure(_corresponding_sensor_ptr);
+ prc_ptr->link(_corresponding_sensor_ptr);
return prc_ptr;
}
@@ -664,7 +659,8 @@ void Problem::setTreeManager(TreeManagerBasePtr _gm)
if (tree_manager_)
tree_manager_->setProblem(nullptr);
tree_manager_ = _gm;
- tree_manager_->setProblem(shared_from_this());
+ if (tree_manager_)
+ tree_manager_->setProblem(shared_from_this());
}
void Problem::addMotionProvider(MotionProviderPtr _motion_provider_ptr)
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 90e40f241c6d15a131b469f31db5c5b9b2938ee2..a4a448aa610ebc9890f90b9060005c1d54f7881f 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -29,7 +29,7 @@ namespace wolf {
unsigned int ProcessorBase::processor_id_count_ = 0;
ProcessorBase::ProcessorBase(const std::string& _type, int _dim, ParamsProcessorBasePtr _params) :
- NodeBase("PROCESSOR", _type),
+ NodeBase("PROCESSOR", _type, _params->name),
processor_id_(++processor_id_count_),
params_(_params),
dim_(_dim),
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 394cf9b6e7d667096b80b1b55dcf840e37b6372a..9ecb93796fdf739fe3ae253a1c8d19b9502aa4e4 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -20,7 +20,6 @@
//
//--------LICENSE_END--------
#include "core/sensor/sensor_base.h"
-#include "core/utils/params_server.h"
#include "core/state_block/prior.h"
#include "core/state_block/factory_state_block.h"
#include "core/state_block/state_block.h"
@@ -37,7 +36,7 @@ SensorBase::SensorBase(const std::string& _type,
const SizeEigen& _dim,
ParamsSensorBasePtr _params,
const Priors& _priors) :
- NodeBase("SENSOR", _type, _params["name"].as<std::string>()),
+ NodeBase("SENSOR", _type, _params->name),
HasStateBlocks("PO"),
hardware_ptr_(),
sensor_id_(++sensor_id_count_), // simple ID factory
diff --git a/src/state_block/prior.cpp b/src/state_block/prior.cpp
index 9e31d09a037cad680a2c3581dff24912849fa944..dbe10672f8552159b714f5f32737e51e8fb9104a 100644
--- a/src/state_block/prior.cpp
+++ b/src/state_block/prior.cpp
@@ -22,7 +22,7 @@
#include "core/state_block/prior.h"
#include "core/state_block/factory_state_block.h"
-#include "core/utils/params_server.h"
+#include "core/common/params_base.h" // toString()
namespace wolf
{
@@ -37,21 +37,20 @@ Prior::Prior(const std::string& _type,
check();
}
-Prior::Prior(const std::string& _prefix, const std::string& _type, const ParamsServer& _server)
- : type_(_type)
+Prior::Prior(const YAML::Node& prior_node)
{
- state_ = _server.getParam<Eigen::VectorXd>(_prefix + "/state");
- mode_ = _server.getParam<std::string>(_prefix + "/mode");
+ state_ = prior_node["state"].as<Eigen::VectorXd>();
+ mode_ = prior_node["mode"].as<std::string>();
if (mode_ == "factor")
- noise_std_ = _server.getParam<Eigen::VectorXd>(_prefix + "/noise_std");
+ noise_std_ = prior_node["noise_std"].as<Eigen::VectorXd>();
else
noise_std_ = Eigen::VectorXd(0);
- dynamic_ = _server.getParam<bool>(_prefix + "/dynamic");
+ dynamic_ = prior_node["dynamic"].as<bool>();
- if (dynamic_ and _server.hasParam(_prefix + "/drift_std"))
- drift_std_ = _server.getParam<Eigen::VectorXd>(_prefix + "/drift_std");
+ if (dynamic_ and prior_node["drift_std"])
+ drift_std_ = prior_node["drift_std"].as<Eigen::VectorXd>();
else
drift_std_ = Eigen::VectorXd(0);
diff --git a/src/utils/params_server.cpp b/src/utils/params_server.cpp
index 2aa43047fe569b9c35a23d164ff812e78fa9a60d..7ed323ab07779dd76737eae55f4b5b8818b45922 100644
--- a/src/utils/params_server.cpp
+++ b/src/utils/params_server.cpp
@@ -58,54 +58,4 @@ void ParamsServer::addParams(std::map<std::string, std::string> _params)
addParam(param_pair.first, param_pair.second);
}
-std::string toString(bool _arg)
-{
- return (_arg ? "true" : "false");
-}
-
-std::string toString(int _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(long _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(long long _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(unsigned _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(unsigned long _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(unsigned long long _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(float _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(double _arg)
-{
- return std::to_string(_arg);
-}
-
-std::string toString(long double _arg)
-{
- return std::to_string(_arg);
-}
-
}
diff --git a/test/dummy/dummy_object.h b/test/dummy/dummy_object.h
index ab865a1449ac6a8610129cd8e1f8427bf02d22ec..c1000ee41128bcb00c0aa257014e32f1e2b72dd5 100644
--- a/test/dummy/dummy_object.h
+++ b/test/dummy/dummy_object.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef WOLF_DUMMY_OBJECT_H_
-#define WOLF_DUMMY_OBJECT_H_
+#pragma once
/**************************
* WOLF includes *
@@ -95,21 +94,4 @@ inline std::string DummyObject::getName() const
return name_;
}
-// template<typename T>
-// inline T DummyObject::getParamWithDefault(const ParamsServer &_server,
-// const std::string &_param_name,
-// const T _default_value) const
-// {
-// try
-// {
-// return _server.getParam<T>(_param_name);
-// }
-// catch (...)
-// {
-// WOLF_INFO("DummyObject: Parameter ", _param_name, " is missing. Taking default value: ", _default_value);
-// return _default_value;
-// }
-// }
-
-}
-#endif
+}
\ No newline at end of file
diff --git a/test/dummy/dummy_object_derived.h b/test/dummy/dummy_object_derived.h
index 78bf5079fe99a57965f60dd2d6d9c5b67af09a7b..b611dab32e79f877043d14aa9145a284868e627d 100644
--- a/test/dummy/dummy_object_derived.h
+++ b/test/dummy/dummy_object_derived.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef DUMMY_OBJECT_DERIVED_H_
-#define DUMMY_OBJECT_DERIVED_H_
+#pragma once
/**************************
* WOLF includes *
@@ -44,6 +43,4 @@ class DummyObjectDerived : public DummyObject
};
WOLF_REGISTER_DUMMY_OBJECT(DummyObjectDerived)
-}
-
-#endif
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/test/dummy/factor_dummy.h b/test/dummy/factor_dummy.h
index 73174d1468e07807e26ab2a6dcf4579ad5a00ef8..b03a8f25e412240cfd52a8682f4bd33581379376 100644
--- a/test/dummy/factor_dummy.h
+++ b/test/dummy/factor_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_DUMMY_H
-#define FACTOR_DUMMY_H
+#pragma once
#include "core/factor/factor_base.h"
@@ -107,6 +106,4 @@ class FactorDummy : public FactorBase
}
};
-}
-
-#endif // FACTOR_DUMMY_H
\ No newline at end of file
+}
\ No newline at end of file
diff --git a/test/dummy/factor_dummy_zero_1.h b/test/dummy/factor_dummy_zero_1.h
index 5a52d9c47f61581048d132eb421d4e47474c02d4..fbc36b874aebd6d47202b16e73b84e8b029cf21c 100644
--- a/test/dummy/factor_dummy_zero_1.h
+++ b/test/dummy/factor_dummy_zero_1.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_DUMMY_ZERO_1_H_
-#define FACTOR_DUMMY_ZERO_1_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -61,6 +60,4 @@ class FactorDummyZero1 : public FactorAutodiff<FactorDummyZero1, 1, 1>
}
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/factor_dummy_zero_12.h b/test/dummy/factor_dummy_zero_12.h
index 707a99908b55bcf1204b54a75889ba9685a95b32..908c34b4f4af6f8cc7c943f24f1808b7e27df63f 100644
--- a/test/dummy/factor_dummy_zero_12.h
+++ b/test/dummy/factor_dummy_zero_12.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_DUMMY_ZERO_12_H_
-#define FACTOR_DUMMY_ZERO_12_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -171,6 +170,4 @@ class FactorDummyZero12 : public FactorAutodiff<FactorDummyZero12<ID>, ID, 1, 2,
}
};
-} // namespace wolf
-
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/factor_feature_dummy.h b/test/dummy/factor_feature_dummy.h
index b8f8266c43dea8060c28d5677cbb1082527f11a8..16ae4cec7b4cbafad5e9460920c292a5e7f9421f 100644
--- a/test/dummy/factor_feature_dummy.h
+++ b/test/dummy/factor_feature_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_FEATURE_DUMMY_H
-#define FACTOR_FEATURE_DUMMY_H
+#pragma once
#include "core/factor/factor_base.h"
@@ -99,6 +98,4 @@ inline FactorBasePtr FactorFeatureDummy::create(const FeatureBasePtr& _feature_p
_processor_ptr);
}
-} // namespace wolf
-
-#endif // FACTOR_FEATURE_DUMMY_H
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/factor_landmark_dummy.h b/test/dummy/factor_landmark_dummy.h
index ceff8247e73c02bb8ac9bb2ca7151486e3f69f87..49e2bbe31edff984517f86ebd41dcf03995eae02 100644
--- a/test/dummy/factor_landmark_dummy.h
+++ b/test/dummy/factor_landmark_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_LANDMARK_DUMMY_H
-#define FACTOR_LANDMARK_DUMMY_H
+#pragma once
#include "core/factor/factor_base.h"
@@ -112,6 +111,4 @@ inline FactorBasePtr FactorLandmarkDummy::create(const FeatureBasePtr& _feature_
_processor_ptr);
}
-} // namespace wolf
-
-#endif // FACTOR_LANDMARK_DUMMY_H
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/factor_odom_2d_autodiff.h b/test/dummy/factor_odom_2d_autodiff.h
index 9d09f97ae8614168701ad12940d950a14342f383..2fbda080781a96ff485e8c7c1f948fcf34ed52a5 100644
--- a/test/dummy/factor_odom_2d_autodiff.h
+++ b/test/dummy/factor_odom_2d_autodiff.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTOR_ODOM_2d_AUTODIFF_H_
-#define FACTOR_ODOM_2d_AUTODIFF_H_
+#pragma once
//Wolf includes
#include "core/factor/factor_autodiff.h"
@@ -116,6 +115,4 @@ inline bool FactorOdom2dAutodiff::operator ()(const T* const _p1, const T* const
return true;
}
-} // namespace wolf
-
-#endif // FACTOR_ODOM_2d_AUTODIFF_H_
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/factory_dummy_object.h b/test/dummy/factory_dummy_object.h
index 34a215963d94f3837cf77724b0859ce99ea49c0b..88e15e0b3641a23ab358101dbed5511a2cf6f167 100644
--- a/test/dummy/factory_dummy_object.h
+++ b/test/dummy/factory_dummy_object.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef FACTORY_DUMMY_OBJECT_H_
-#define FACTORY_DUMMY_OBJECT_H_
+#pragma once
// wolf
#include <core/common/factory.h>
@@ -44,5 +43,4 @@ inline std::string FactoryDummyObject::getClass() const
namespace{ const bool WOLF_UNUSED DummyObjectType##Registered = \
wolf::FactoryDummyObject::registerCreator(#DummyObjectType, DummyObjectType::create); } \
-} /* namespace wolf */
-#endif /* FACTORY_DUMMY_OBJECT_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/test/dummy/processor_loop_closure_dummy.h b/test/dummy/processor_loop_closure_dummy.h
index a0e456eec87ed473b11852a5981fb3ff2e494eba..3d2e2e8e1687225307dae8a6ceebf37534d1f92d 100644
--- a/test/dummy/processor_loop_closure_dummy.h
+++ b/test/dummy/processor_loop_closure_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef TEST_DUMMY_PROCESSOR_LOOP_CLOSURE_DUMMY_H_
-#define TEST_DUMMY_PROCESSOR_LOOP_CLOSURE_DUMMY_H_
+#pragma once
#include "core/processor/processor_loop_closure.h"
@@ -108,7 +107,4 @@ class ProcessorLoopClosureDummy : public ProcessorLoopClosure
{
return buffer_capture_.getContainer().size();
}
-};
-
-
-#endif /* TEST_DUMMY_PROCESSOR_LOOP_CLOSURE_DUMMY_H_ */
+};
\ No newline at end of file
diff --git a/test/dummy/processor_motion_provider_dummy.h b/test/dummy/processor_motion_provider_dummy.h
index 4e67ec2f75676c274d71b50104f74cdab7d8cbf1..a7e64038e15c0a22130ba1f6fbddb22c08d02373 100644
--- a/test/dummy/processor_motion_provider_dummy.h
+++ b/test/dummy/processor_motion_provider_dummy.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * processor_motion_provider_dummy.h
- *
- * Created on: Mar 8, 2021
- * Author: joanvallve
- */
-
-#ifndef TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_
-#define TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_
+#pragma once
#include <core/processor/motion_provider.h>
#include "core/processor/processor_base.h"
@@ -42,9 +34,9 @@ struct ParamsMotionProviderDummy : public ParamsProcessorBase, public ParamsMoti
std::string state_structure = "PO";
ParamsMotionProviderDummy() = default;
- ParamsMotionProviderDummy(std::string _unique_name, const ParamsServer& _server):
- ParamsProcessorBase(_unique_name, _server),
- ParamsMotionProvider(_unique_name, _server)
+ ParamsMotionProviderDummy(const YAML::Node& _n):
+ ParamsProcessorBase(_n),
+ ParamsMotionProvider(_n)
{
};
@@ -91,6 +83,4 @@ class MotionProviderDummy : public ProcessorBase, public MotionProvider
#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR(MotionProviderDummy);
-} // namespace wolf
-
-#endif /* TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index d68a55e03bf427c1559add05b30d1a27c47ab87f..ffc25ac1a6a8fa23fd6885ceb248ed6ad7bf7593 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_tracker_feature_dummy.h
- *
- * Created on: Apr 11, 2016
- * \author: jvallve
- */
-
-#ifndef PROCESSOR_TRACKER_FEATURE_DUMMY_H_
-#define PROCESSOR_TRACKER_FEATURE_DUMMY_H_
+#pragma once
#include "core/common/wolf.h"
#include "core/processor/processor_tracker_feature.h"
@@ -43,11 +35,10 @@ struct ParamsProcessorTrackerFeatureDummy : public ParamsProcessorTrackerFeature
unsigned int n_tracks_lost; ///< number of tracks lost each time track is called (the first ones)
ParamsProcessorTrackerFeatureDummy() = default;
- ParamsProcessorTrackerFeatureDummy(std::string _unique_name,
- const wolf::ParamsServer & _server):
- ParamsProcessorTrackerFeature(_unique_name, _server)
+ ParamsProcessorTrackerFeatureDummy(const YAML::Node& _n):
+ ParamsProcessorTrackerFeature(_n)
{
- n_tracks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_tracks_lost");
+ n_tracks_lost = _n["n_tracks_lost"].as<unsigned int>();
}
};
@@ -150,6 +141,4 @@ inline bool ProcessorTrackerFeatureDummy::correctFeatureDrift(const FeatureBaseP
return true;
}
-} // namespace wolf
-
-#endif /* PROCESSOR_TRACKER_FEATURE_DUMMY_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 22060c82d0c27d4670cd94be45b652efaab0e902..b7f0608d421f75839cd043ba6972a02039a56ca3 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/**
- * \file processor_tracker_landmark_dummy.h
- *
- * Created on: Apr 12, 2016
- * \author: jvallve
- */
-
-#ifndef PROCESSOR_TRACKER_LANDMARK_DUMMY_H_
-#define PROCESSOR_TRACKER_LANDMARK_DUMMY_H_
+#pragma once
#include "core/processor/processor_tracker_landmark.h"
@@ -41,10 +33,10 @@ struct ParamsProcessorTrackerLandmarkDummy : public ParamsProcessorTrackerLandma
unsigned int n_landmarks_lost; ///< number of landmarks lost each time findLandmarks is called (the last ones)
ParamsProcessorTrackerLandmarkDummy() = default;
- ParamsProcessorTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
- ParamsProcessorTrackerLandmark(_unique_name, _server)
+ ParamsProcessorTrackerLandmarkDummy(const YAML::Node& _n):
+ ParamsProcessorTrackerLandmark(_n)
{
- n_landmarks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_landmarks_lost");
+ n_landmarks_lost = _n["n_landmarks_lost"].as<unsigned int>();
}
};
@@ -124,6 +116,4 @@ class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
LandmarkBasePtr _landmark_ptr) override;
};
-} // namespace wolf
-
-#endif /* PROCESSOR_TRACKER_LANDMARK_DUMMY_H_ */
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/sensor_dummy.h b/test/dummy/sensor_dummy.h
index 5421d72fac0bbd7b53ed9191d91eeb54cdb3014f..96e8b5777a61a69e5773759c5ffa9a2cd461e163 100644
--- a/test/dummy/sensor_dummy.h
+++ b/test/dummy/sensor_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef SENSOR_DUMMY_H_
-#define SENSOR_DUMMY_H_
+#pragma once
/**************************
* WOLF includes *
@@ -37,11 +36,11 @@ struct ParamsSensorDummy : public ParamsSensorBase
double noise_o_std;
ParamsSensorDummy() = default;
- ParamsSensorDummy(std::string _unique_name, const ParamsServer& _server):
- ParamsSensorBase(_unique_name, _server)
+ ParamsSensorDummy(const YAML::Node& _n):
+ ParamsSensorBase(_n)
{
- noise_p_std = _server.getParam<double>(prefix + _unique_name + "/noise_p_std");
- noise_o_std = _server.getParam<double>(prefix + _unique_name + "/noise_o_std");
+ noise_p_std = _n["noise_p_std"].as<double>();
+ noise_o_std = _n["noise_o_std"].as<double>();
}
~ParamsSensorDummy() override = default;
std::string print() const override
@@ -61,33 +60,17 @@ class SensorDummy : public SensorBase
SizeEigen dim_;
public:
- SensorDummy(const std::string& _unique_name,
- SizeEigen _dim,
- ParamsSensorDummyPtr _params,
- const ParamsServer& _server) :
- SensorBase("SensorDummy",
- _unique_name,
- _dim,
- _params,
- _server),
- params_dummy_(_params)
- {
- }
- WOLF_SENSOR_CREATE(SensorDummy, ParamsSensorDummy);
-
-
- SensorDummy(const std::string& _unique_name,
- SizeEigen _dim,
+ SensorDummy(SizeEigen _dim,
ParamsSensorDummyPtr _params,
const Priors& _priors) :
SensorBase("SensorDummy",
- _unique_name,
_dim,
_params,
_priors),
params_dummy_(_params)
{
}
+ WOLF_SENSOR_CREATE(SensorDummy, ParamsSensorDummy);
virtual ~SensorDummy(){};
@@ -104,5 +87,4 @@ class SensorDummy : public SensorBase
#include "core/sensor/factory_sensor.h"
namespace wolf {
WOLF_REGISTER_SENSOR(SensorDummy);
-} // namespace wolf
-#endif
+} // namespace wolf
\ No newline at end of file
diff --git a/test/dummy/sensor_dummy_poia.h b/test/dummy/sensor_dummy_poia.h
index c311e9cea73ac4faac86ccaac0d77976d072faea..f81eca9efb48f8fcbc69254d1062347402c28600 100644
--- a/test/dummy/sensor_dummy_poia.h
+++ b/test/dummy/sensor_dummy_poia.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef SENSOR_DummyPoi_H_
-#define SENSOR_DummyPoi_H_
+#pragma once
/**************************
* WOLF includes *
@@ -30,16 +29,16 @@
namespace wolf {
-SpecStates specs_states_dummy_poia({{'I',SpecState("StateBlock", 5, "some doc for state I")},
- {'A',SpecState("StateQuaternion", 4, "some doc for state A")}});
+// SpecStates specs_states_dummy_poia({{'I',SpecState("StateBlock", 5, "some doc for state I")},
+ // {'A',SpecState("StateQuaternion", 4, "some doc for state A")}});
WOLF_STRUCT_PTR_TYPEDEFS(ParamsSensorDummyPoia);
struct ParamsSensorDummyPoia : public ParamsSensorDummy
{
ParamsSensorDummyPoia() = default;
- ParamsSensorDummyPoia(std::string _unique_name, const ParamsServer& _server):
- ParamsSensorDummy(_unique_name, _server)
+ ParamsSensorDummyPoia(const YAML::Node& _n):
+ ParamsSensorDummy(_n)
{
}
~ParamsSensorDummyPoia() override = default;
@@ -58,36 +57,18 @@ class SensorDummyPoia : public SensorBase
SizeEigen dim_;
public:
- SensorDummyPoia(const std::string& _unique_name,
- SizeEigen _dim,
- ParamsSensorDummyPoiaPtr _params,
- const ParamsServer& _server) :
+ SensorDummyPoia(SizeEigen _dim,
+ ParamsSensorDummyPoiaPtr _params,
+ const Priors& _priors) :
SensorBase("SensorDummyPoia",
- _unique_name,
_dim,
_params,
- _server,
- specs_states_dummy_poia),
+ _priors),
params_dummy_poia_(_params)
{
}
WOLF_SENSOR_CREATE(SensorDummyPoia, ParamsSensorDummyPoia);
-
- SensorDummyPoia(const std::string& _unique_name,
- SizeEigen _dim,
- ParamsSensorDummyPoiaPtr _params,
- const Priors& _priors) :
- SensorBase("SensorDummyPoia",
- _unique_name,
- _dim,
- _params,
- _priors,
- specs_states_dummy_poia),
- params_dummy_poia_(_params)
- {
- }
-
virtual ~SensorDummyPoia(){};
Eigen::MatrixXd computeNoiseCov(const Eigen::VectorXd & _data) const override
@@ -104,4 +85,3 @@ class SensorDummyPoia : public SensorBase
namespace wolf {
WOLF_REGISTER_SENSOR(SensorDummyPoia);
} // namespace wolf
-#endif
diff --git a/test/dummy/solver_manager_dummy.h b/test/dummy/solver_manager_dummy.h
index 9c4df89d8d7ef2a6c0d9fd8ee568ba9d71247178..acef8846b04e9465607520e9de5fdb45c6f5868b 100644
--- a/test/dummy/solver_manager_dummy.h
+++ b/test/dummy/solver_manager_dummy.h
@@ -19,15 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-/*
- * solver_manager_dummy.h
- *
- * Created on: May 27, 2020
- * Author: joanvallve
- */
-
-#ifndef TEST_DUMMY_SOLVER_MANAGER_DUMMY_H_
-#define TEST_DUMMY_SOLVER_MANAGER_DUMMY_H_
+#pragma once
#include "core/solver/solver_manager.h"
@@ -126,6 +118,4 @@ class SolverManagerDummy : public SolverManager
};
};
-}
-
-#endif /* TEST_DUMMY_SOLVER_MANAGER_DUMMY_H_ */
+}
\ No newline at end of file
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index 33a8f8fcfda9ec19ff57fd05cb2c2590bd14932f..3866cb688d5f0aa2c343b2ae03952f4cf981e23e 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef INCLUDE_TREE_MANAGER_DUMMY_H_
-#define INCLUDE_TREE_MANAGER_DUMMY_H_
+#pragma once
#include "core/tree_manager/tree_manager_base.h"
@@ -31,10 +30,10 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsTreeManagerDummy)
struct ParamsTreeManagerDummy : public ParamsTreeManagerBase
{
ParamsTreeManagerDummy() = default;
- ParamsTreeManagerDummy(const ParamsServer& _server):
- ParamsTreeManagerBase(_server)
+ ParamsTreeManagerDummy(const YAML::Node& _n):
+ ParamsTreeManagerBase(_n)
{
- toy_param = _server.getParam<double>(prefix + "/toy_param");
+ toy_param = _n["toy_param"].as<double>();
}
~ParamsTreeManagerDummy() override = default;
@@ -75,7 +74,4 @@ class TreeManagerDummy : public TreeManagerBase
#include "core/tree_manager/factory_tree_manager.h"
namespace wolf {
WOLF_REGISTER_TREE_MANAGER(TreeManagerDummy)
-
-} /* namespace wolf */
-
-#endif /* INCLUDE_TREE_MANAGER_DUMMY_H_ */
+} /* namespace wolf */
\ No newline at end of file
diff --git a/wolf_scripts/templates/class_template.h b/wolf_scripts/templates/class_template.h
index a86b1d70ced441fbe57d4c6c16d1cf3bde95b7c8..0981af23308f61f52f36dd7fe6b1fdaa2b3dbf9c 100644
--- a/wolf_scripts/templates/class_template.h
+++ b/wolf_scripts/templates/class_template.h
@@ -19,8 +19,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#ifndef _name_cap_H_
-#define _name_cap_H_
+#pragma once
//Wolf includes
#include "wolf.h"
@@ -45,6 +44,4 @@ class class_name : public base_class
virtual ~class_name();
};
-} // namespace wolf
-
-#endif /* _name_cap_H_ */
+} // namespace wolf
\ No newline at end of file