From b8bcbb9cbf14959255bdd8d9194b27b1bceda491 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 15 Jan 2021 21:10:17 +0100
Subject: [PATCH] Rename FactorOdom2d -> FactorOdom2dAutodiff

---
 CMakeLists.txt                                 |  2 +-
 .../create_numeric_diff_cost_function.h        |  3 ++-
 ...tor_odom_2d.h => factor_odom_2d_autodiff.h} | 18 +++++++++---------
 include/core/feature/feature_odom_2d.h         |  2 +-
 include/core/processor/processor_odom_2d.h     |  2 +-
 include/core/solver_suitesparse/qr_solver.h    |  6 +++---
 src/processor/processor_odom_2d.cpp            |  2 +-
 test/gtest_emplace.cpp                         |  6 +++---
 test/gtest_factor_autodiff.cpp                 | 10 +++++-----
 test/gtest_factor_odom_2d.cpp                  | 12 ++++++------
 test/gtest_frame_base.cpp                      |  4 ++--
 test/gtest_odom_2d.cpp                         |  7 ++++---
 12 files changed, 38 insertions(+), 36 deletions(-)
 rename include/core/factor/{factor_odom_2d.h => factor_odom_2d_autodiff.h} (86%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fde2538de..7728a55e1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -220,8 +220,8 @@ SET(HDRS_FACTOR
   include/core/factor/factor_block_absolute.h
   include/core/factor/factor_block_difference.h
   include/core/factor/factor_diff_drive.h
-  include/core/factor/factor_odom_2d.h
   include/core/factor/factor_distance_3d.h
+  include/core/factor/factor_odom_2d_autodiff.h
   include/core/factor/factor_odom_2d_closeloop.h
   include/core/factor/factor_odom_2d_analytic.h
   include/core/factor/factor_odom_3d.h
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 203c38ef6..6fb0fb5ac 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -8,11 +8,12 @@
 #ifndef SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
 #define SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
 
+#include <core/factor/factor_odom_2d_autodiff.h>
+
 #include "ceres/cost_function.h"
 #include "ceres/numeric_diff_cost_function.h"
 
 // Factors
-#include "core/factor/factor_odom_2d.h"
 #include "core/factor/factor_base.h"
 
 namespace wolf {
diff --git a/include/core/factor/factor_odom_2d.h b/include/core/factor/factor_odom_2d_autodiff.h
similarity index 86%
rename from include/core/factor/factor_odom_2d.h
rename to include/core/factor/factor_odom_2d_autodiff.h
index 298cc3584..a63ca8cdd 100644
--- a/include/core/factor/factor_odom_2d.h
+++ b/include/core/factor/factor_odom_2d_autodiff.h
@@ -1,5 +1,5 @@
-#ifndef FACTOR_ODOM_2d_THETA_H_
-#define FACTOR_ODOM_2d_THETA_H_
+#ifndef FACTOR_ODOM_2d_AUTODIFF_H_
+#define FACTOR_ODOM_2d_AUTODIFF_H_
 
 //Wolf includes
 #include "core/factor/factor_autodiff.h"
@@ -10,18 +10,18 @@
 
 namespace wolf {
     
-WOLF_PTR_TYPEDEFS(FactorOdom2d);
+WOLF_PTR_TYPEDEFS(FactorOdom2dAutodiff);
 
 //class
-class FactorOdom2d : public FactorAutodiff<FactorOdom2d, 3, 2, 1, 2, 1>
+class FactorOdom2dAutodiff : public FactorAutodiff<FactorOdom2dAutodiff, 3, 2, 1, 2, 1>
 {
     public:
-        FactorOdom2d(const FeatureBasePtr& _ftr_ptr,
+        FactorOdom2dAutodiff(const FeatureBasePtr& _ftr_ptr,
                      const FrameBasePtr& _frame_other_ptr,
                      const ProcessorBasePtr& _processor_ptr,
                      bool _apply_loss_function,
                      FactorStatus _status = FAC_ACTIVE) :
-             FactorAutodiff<FactorOdom2d, 3, 2, 1, 2, 1>("FactorOdom2d",
+             FactorAutodiff<FactorOdom2dAutodiff, 3, 2, 1, 2, 1>("FactorOdom2d",
                                                          _ftr_ptr,
                                                          _frame_other_ptr, nullptr, nullptr, nullptr,
                                                          _processor_ptr,
@@ -34,7 +34,7 @@ class FactorOdom2d : public FactorAutodiff<FactorOdom2d, 3, 2, 1, 2, 1>
             //
         }
 
-        ~FactorOdom2d() override = default;
+        ~FactorOdom2dAutodiff() override = default;
 
         std::string getTopology() const override
         {
@@ -55,7 +55,7 @@ class FactorOdom2d : public FactorAutodiff<FactorOdom2d, 3, 2, 1, 2, 1>
 };
 
 template<typename T>
-inline bool FactorOdom2d::operator ()(const T* const _p1, const T* const _o1, const T* const _p2,
+inline bool FactorOdom2dAutodiff::operator ()(const T* const _p1, const T* const _o1, const T* const _p2,
                                           const T* const _o2, T* _residuals) const
 {
 
@@ -102,4 +102,4 @@ inline bool FactorOdom2d::operator ()(const T* const _p1, const T* const _o1, co
 
 } // namespace wolf
 
-#endif
+#endif // FACTOR_ODOM_2d_AUTODIFF_H_
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index cb65fa06b..78522f6b5 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -2,8 +2,8 @@
 #define FEATURE_ODOM_2d_H_
 
 //Wolf includes
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "core/feature/feature_base.h"
-#include "core/factor/factor_odom_2d.h"
 #include "core/factor/factor_odom_2d_analytic.h"
 
 //std includes
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 2ad5b846b..051fce005 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -8,9 +8,9 @@
 #ifndef SRC_PROCESSOR_ODOM_2d_H_
 #define SRC_PROCESSOR_ODOM_2d_H_
 
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "core/processor/processor_motion.h"
 #include "core/capture/capture_odom_2d.h"
-#include "core/factor/factor_odom_2d.h"
 #include "core/math/rotations.h"
 #include "core/utils/params_server.h"
 #include "core/math/SE2.h"
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index b586278c7..d208800d1 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -9,13 +9,13 @@
 #define TRUNK_SRC_SOLVER_QR_SOLVER_H_
 
 //std includes
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include <iostream>
 #include <ctime>
 
 //Wolf includes
 #include "core/state_block/state_block.h"
 #include "../factor_sparse.h"
-#include "core/factor/factor_odom_2d.h"
 #include "core/factor/factor_corner_2d.h"
 #include "core/factor/factor_container.h"
 #include "core/solver_suitesparse/sparse_utils.h"
@@ -547,8 +547,8 @@ class SolverQR
                 }
                 case FAC_ODOM_2d:
                 {
-                    FactorOdom2d* specific_ptr = (FactorOdom2d*)(_fac_ptr);
-                    return (CostFunctionBasePtr)new CostFunctionSparse<FactorOdom2d, specific_ptr->residualSize,
+                    FactorOdom2dAutodiff* specific_ptr = (FactorOdom2dAutodiff*)(_fac_ptr);
+                    return (CostFunctionBasePtr)new CostFunctionSparse<FactorOdom2dAutodiff, specific_ptr->residualSize,
                             specific_ptr->block0Size, specific_ptr->block1Size, specific_ptr->block2Size,
                             specific_ptr->block3Size, specific_ptr->block4Size, specific_ptr->block5Size,
                             specific_ptr->block6Size, specific_ptr->block7Size, specific_ptr->block8Size,
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 2da7c330b..88278d090 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -143,7 +143,7 @@ CaptureMotionPtr ProcessorOdom2d::emplaceCapture(const FrameBasePtr& _frame_own,
 
 FactorBasePtr ProcessorOdom2d::emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin)
 {
-    auto fac_odom = FactorBase::emplace<FactorOdom2d>(_feature,
+    auto fac_odom = FactorBase::emplace<FactorOdom2dAutodiff>(_feature,
                                                       _feature,
                                                       _capture_origin->getFrame(),
                                                       shared_from_this(),
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 21ed31670..863664bee 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -111,7 +111,7 @@ TEST(Emplace, Factor)
     ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getCaptureList().front()->getFeatureList().front()->getCapture()->getFrame()->getTrajectory()->getProblem());
     ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getCaptureList().front()->getFeatureList().front()->getProblem());
     ASSERT_EQ(cpt, cpt->getFeatureList().front()->getCapture());
-    auto cnt = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
+    auto cnt = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
     ASSERT_NE(nullptr, ftr->getFactorList().front().get());
 }
 
@@ -145,9 +145,9 @@ TEST(Emplace, ReturnDerived)
     auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
     auto cov = Eigen::MatrixXd::Identity(2,2);
     auto ftr = FeatureBase::emplace<FeatureOdom2d>(cpt, Eigen::VectorXd(2), cov);
-    auto cnt = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
+    auto cnt = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
 
-    FactorOdom2dPtr fac = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
+    FactorOdom2dAutodiffPtr fac = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
 
 }
 int main(int argc, char **argv)
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index f4e3108d6..d852ea30c 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -5,12 +5,12 @@
  *      Author: jvallve
  */
 
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "core/utils/utils_gtest.h"
 
 #include "core/sensor/sensor_odom_2d.h"
 #include "core/capture/capture_void.h"
 #include "core/feature/feature_odom_2d.h"
-#include "core/factor/factor_odom_2d.h"
 #include "core/factor/factor_odom_2d_analytic.h"
 #include "core/factor/factor_autodiff.h"
 #include "dummy/factor_dummy_zero_1.h"
@@ -369,7 +369,7 @@ TEST(FactorAutodiff, EmplaceOdom2d)
     auto feature_ptr = FeatureBase::emplace<FeatureOdom2d>(capture_ptr, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity());
 
     // FACTOR
-    auto factor_ptr = FactorBase::emplace<FactorOdom2d>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
+    auto factor_ptr = FactorBase::emplace<FactorOdom2dAutodiff>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
 
     ASSERT_TRUE(factor_ptr->getFeature());
     ASSERT_TRUE(factor_ptr->getFeature()->getCapture());
@@ -405,7 +405,7 @@ TEST(FactorAutodiff, ResidualOdom2d)
     auto feature_ptr = FeatureBase::emplace<FeatureOdom2d>(capture_ptr, d, Eigen::Matrix3d::Identity());
 
     // FACTOR
-    auto factor_ptr = FactorBase::emplace<FactorOdom2d>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
+    auto factor_ptr = FactorBase::emplace<FactorOdom2dAutodiff>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
 
     // EVALUATE
 
@@ -450,7 +450,7 @@ TEST(FactorAutodiff, JacobianOdom2d)
     auto feature_ptr = FeatureBase::emplace<FeatureOdom2d>(capture_ptr, d, Eigen::Matrix3d::Identity());
 
     // FACTOR
-    auto factor_ptr = FactorBase::emplace<FactorOdom2d>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
+    auto factor_ptr = FactorBase::emplace<FactorOdom2dAutodiff>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
 
     // COMPUTE JACOBIANS
 
@@ -530,7 +530,7 @@ TEST(FactorAutodiff, AutodiffVsAnalytic)
     auto feature_ptr = FeatureBase::emplace<FeatureOdom2d>(capture_ptr, d, Eigen::Matrix3d::Identity());
 
     // FACTOR
-    auto fac_autodiff_ptr = FactorBase::emplace<FactorOdom2d>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
+    auto fac_autodiff_ptr = FactorBase::emplace<FactorOdom2dAutodiff>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
     auto fac_analytic_ptr = FactorBase::emplace<FactorOdom2dAnalytic>(feature_ptr, feature_ptr, fr1_ptr, nullptr, false);
 
     // COMPUTE JACOBIANS
diff --git a/test/gtest_factor_odom_2d.cpp b/test/gtest_factor_odom_2d.cpp
index 740933a67..7adb358a7 100644
--- a/test/gtest_factor_odom_2d.cpp
+++ b/test/gtest_factor_odom_2d.cpp
@@ -1,7 +1,7 @@
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "../include/core/ceres_wrapper/solver_ceres.h"
 #include "core/utils/utils_gtest.h"
 
-#include "core/factor/factor_odom_2d.h"
 #include "core/capture/capture_odom_2d.h"
 #include "core/math/rotations.h"
 
@@ -25,12 +25,12 @@ FrameBasePtr frm1 = problem_ptr->emplaceFrame(TimeStamp(1), Vector3d::Zero());
 // Capture from frm1 to frm0
 auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, nullptr, Vector3d::Zero(), data_cov);
 
-TEST(FactorOdom2d, check_tree)
+TEST(FactorOdom2dAutodiff, check_tree)
 {
     ASSERT_TRUE(problem_ptr->check(0));
 }
 
-TEST(FactorOdom2d, fix_0_solve)
+TEST(FactorOdom2dAutodiff, fix_0_solve)
 {
     for (int i = 0; i < 1e3; i++)
     {
@@ -54,7 +54,7 @@ TEST(FactorOdom2d, fix_0_solve)
 
         // feature & factor with delta measurement
         auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
-        FactorBase::emplace<FactorOdom2d>(fea1, fea1, frm0, nullptr, false);
+        FactorBase::emplace<FactorOdom2dAutodiff>(fea1, fea1, frm0, nullptr, false);
 
         // Fix frm0, perturb frm1
         frm0->fix();
@@ -71,7 +71,7 @@ TEST(FactorOdom2d, fix_0_solve)
     }
 }
 
-TEST(FactorOdom2d, fix_1_solve)
+TEST(FactorOdom2dAutodiff, fix_1_solve)
 {
     for (int i = 0; i < 1e3; i++)
     {
@@ -95,7 +95,7 @@ TEST(FactorOdom2d, fix_1_solve)
 
         // feature & factor with delta measurement
         auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
-        FactorBase::emplace<FactorOdom2d>(fea1, fea1, frm0, nullptr, false);
+        FactorBase::emplace<FactorOdom2dAutodiff>(fea1, fea1, frm0, nullptr, false);
 
         // Fix frm1, perturb frm0
         frm1->fix();
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index ac405e6fa..2af1639c7 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -5,13 +5,13 @@
  *      Author: jsola
  */
 
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "core/utils/utils_gtest.h"
 
 
 #include "core/frame/frame_base.h"
 #include "core/sensor/sensor_odom_2d.h"
 #include "core/processor/processor_odom_2d.h"
-#include "core/factor/factor_odom_2d.h"
 #include "core/capture/capture_motion.h"
 
 #include <iostream>
@@ -75,7 +75,7 @@ TEST(FrameBase, LinksToTree)
     //auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ParamsProcessorOdom2d>());
     WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
     auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
-    auto c = FactorBase::emplace<FactorOdom2d>(f, f, F2, p, false);
+    auto c = FactorBase::emplace<FactorOdom2dAutodiff>(f, f, F2, p, false);
 
     //TODO: WARNING! I dropped this comprovations since the emplacing operation is now atomic.
     ASSERT_FALSE(F2->getConstrainedByList().empty());
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index ab545f2ec..cbdcf2435 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -5,12 +5,13 @@
  *      \author: jsola
  */
 
+#include <core/factor/factor_odom_2d_autodiff.h>
 #include "core/utils/utils_gtest.h"
 
 // Classes under test
 #include "core/sensor/sensor_odom_2d.h"
 #include "core/processor/processor_odom_2d.h"
-#include "core/factor/factor_odom_2d.h"
+#include "core/factor/factor_odom_2d_analytic.h"
 #include "core/capture/capture_odom_2d.h"
 
 // Wolf includes
@@ -132,14 +133,14 @@ TEST(Odom2d, FactorFix_and_FactorOdom2d)
     FrameBasePtr        F1 = Pr->emplaceFrame(t, Vector3d::Zero());
     auto C1 = CaptureBase::emplace<CaptureBase>(F1, "CaptureOdom2d", t);
     auto f1 = FeatureBase::emplace<FeatureBase>(C1, "FeatureOdom2d", delta, delta_cov);
-    auto c1 = FactorBase::emplace<FactorOdom2d>(f1, f1, F0, nullptr, false);
+    auto c1 = FactorBase::emplace<FactorOdom2dAnalytic>(f1, f1, F0, nullptr, false);
 
     // KF2 and motion from KF1
     t += dt;
     FrameBasePtr        F2 = Pr->emplaceFrame(t, Vector3d::Zero());
     auto C2 = CaptureBase::emplace<CaptureBase>(F2, "CaptureOdom2d", t);
     auto f2 = FeatureBase::emplace<FeatureBase>(C2, "FeatureOdom2d", delta, delta_cov);
-    auto c2 = FactorBase::emplace<FactorOdom2d>(f2, f2, F1, nullptr, false);
+    auto c2 = FactorBase::emplace<FactorOdom2dAnalytic>(f2, f2, F1, nullptr, false);
 
     ASSERT_TRUE(Pr->check(0));
 
-- 
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