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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
bc521e6c
Commit
bc521e6c
authored
7 years ago
by
Joan Solà Ortega
Browse files
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Use 'auto' instead of pre-defined types
parent
e43f41e2
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2 changed files
src/hello_wolf/processor_range_bearing.cpp
+14
-14
14 additions, 14 deletions
src/hello_wolf/processor_range_bearing.cpp
src/processor_motion.cpp
+29
-29
29 additions, 29 deletions
src/processor_motion.cpp
with
43 additions
and
43 deletions
src/hello_wolf/processor_range_bearing.cpp
+
14
−
14
View file @
bc521e6c
...
@@ -25,15 +25,15 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
...
@@ -25,15 +25,15 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
CaptureRangeBearingPtr
capture
=
std
::
static_pointer_cast
<
CaptureRangeBearing
>
(
_capture
);
CaptureRangeBearingPtr
capture
=
std
::
static_pointer_cast
<
CaptureRangeBearing
>
(
_capture
);
// 1. get KF -- we assume a KF is available to hold this _capture (checked in assert below)
// 1. get KF -- we assume a KF is available to hold this _capture (checked in assert below)
FrameBasePtr
kf
=
getProblem
()
->
closestKeyFrameToTimeStamp
(
capture
->
getTimeStamp
());
auto
kf
=
getProblem
()
->
closestKeyFrameToTimeStamp
(
capture
->
getTimeStamp
());
assert
(
(
fabs
(
kf
->
getTimeStamp
()
-
_capture
->
getTimeStamp
())
<
time_tolerance_
)
&&
"Could not find a KF close enough to _capture!"
);
assert
(
(
fabs
(
kf
->
getTimeStamp
()
-
_capture
->
getTimeStamp
())
<
time_tolerance_
)
&&
"Could not find a KF close enough to _capture!"
);
// 2. create Capture
// 2. create Capture
CaptureRangeBearingPtr
cap
=
std
::
make_shared
<
CaptureRangeBearing
>
(
capture
->
getTimeStamp
(),
auto
cap
=
std
::
make_shared
<
CaptureRangeBearing
>
(
capture
->
getTimeStamp
(),
getSensorPtr
(),
getSensorPtr
(),
capture
->
getIds
(),
capture
->
getIds
(),
capture
->
getRanges
(),
capture
->
getRanges
(),
capture
->
getBearings
());
capture
->
getBearings
());
kf
->
addCapture
(
cap
);
kf
->
addCapture
(
cap
);
// 3. explore all observations in the capture
// 3. explore all observations in the capture
...
@@ -66,17 +66,17 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
...
@@ -66,17 +66,17 @@ void ProcessorRangeBearing::process(CaptureBasePtr _capture)
// 5. create feature
// 5. create feature
Vector2s
rb
(
range
,
bearing
);
Vector2s
rb
(
range
,
bearing
);
FeatureRangeBearingPtr
ftr
=
std
::
make_shared
<
FeatureRangeBearing
>
(
rb
,
auto
ftr
=
std
::
make_shared
<
FeatureRangeBearing
>
(
rb
,
getSensorPtr
()
->
getNoiseCov
());
getSensorPtr
()
->
getNoiseCov
());
cap
->
addFeature
(
ftr
);
cap
->
addFeature
(
ftr
);
// 6. create constraint
// 6. create constraint
ProcessorBasePtr
prc
=
shared_from_this
();
auto
prc
=
shared_from_this
();
ConstraintRangeBearingPtr
ctr
=
std
::
make_shared
<
ConstraintRangeBearing
>
(
cap
,
auto
ctr
=
std
::
make_shared
<
ConstraintRangeBearing
>
(
cap
,
lmk
,
lmk
,
prc
,
prc
,
false
,
false
,
CTR_ACTIVE
);
CTR_ACTIVE
);
ftr
->
addConstraint
(
ctr
);
ftr
->
addConstraint
(
ctr
);
lmk
->
addConstrainedBy
(
ctr
);
lmk
->
addConstrainedBy
(
ctr
);
}
}
...
...
This diff is collapsed.
Click to expand it.
src/processor_motion.cpp
+
29
−
29
View file @
bc521e6c
...
@@ -52,7 +52,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
...
@@ -52,7 +52,7 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
if
(
origin_ptr_
==
nullptr
)
if
(
origin_ptr_
==
nullptr
)
{
{
FrameBasePtr
frm
=
getProblem
()
->
getTrajectoryPtr
()
->
closestKeyFrameToTimeStamp
(
t0
);
auto
frm
=
getProblem
()
->
getTrajectoryPtr
()
->
closestKeyFrameToTimeStamp
(
t0
);
if
(
frm
&&
fabs
(
frm
->
getTimeStamp
()
-
t0
)
<
time_tolerance_
)
if
(
frm
&&
fabs
(
frm
->
getTimeStamp
()
-
t0
)
<
time_tolerance_
)
{
{
std
::
cout
<<
"PM: join KF"
<<
std
::
endl
;
std
::
cout
<<
"PM: join KF"
<<
std
::
endl
;
...
@@ -88,30 +88,30 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
...
@@ -88,30 +88,30 @@ void ProcessorMotion::process(CaptureBasePtr _incoming_ptr)
if
(
voteForKeyFrame
()
&&
permittedKeyFrame
())
if
(
voteForKeyFrame
()
&&
permittedKeyFrame
())
{
{
// Set the frame of last_ptr as key
// Set the frame of last_ptr as key
FrameBasePtr
key_frame_ptr
=
last_ptr_
->
getFramePtr
();
auto
key_frame_ptr
=
last_ptr_
->
getFramePtr
();
key_frame_ptr
->
setState
(
getCurrentState
());
key_frame_ptr
->
setState
(
getCurrentState
());
key_frame_ptr
->
setTimeStamp
(
getCurrentTimeStamp
());
key_frame_ptr
->
setTimeStamp
(
getCurrentTimeStamp
());
key_frame_ptr
->
setKey
();
key_frame_ptr
->
setKey
();
// create motion feature and add it to the key_capture
// create motion feature and add it to the key_capture
FeatureBasePtr
key_feature_ptr
=
emplaceFeature
(
last_ptr_
);
auto
key_feature_ptr
=
emplaceFeature
(
last_ptr_
);
// create motion constraint and link it to parent feature and other frame (which is origin's frame)
// create motion constraint and link it to parent feature and other frame (which is origin's frame)
auto
ctr_ptr
=
emplaceConstraint
(
key_feature_ptr
,
origin_ptr_
);
auto
ctr_ptr
=
emplaceConstraint
(
key_feature_ptr
,
origin_ptr_
);
// create a new frame
// create a new frame
FrameBasePtr
new_frame_ptr
=
getProblem
()
->
emplaceFrame
(
NON_KEY_FRAME
,
auto
new_frame_ptr
=
getProblem
()
->
emplaceFrame
(
NON_KEY_FRAME
,
getCurrentState
(),
getCurrentState
(),
getCurrentTimeStamp
());
getCurrentTimeStamp
());
// create a new capture
// create a new capture
CaptureMotionPtr
new_capture_ptr
=
emplaceCapture
(
new_frame_ptr
,
auto
new_capture_ptr
=
emplaceCapture
(
new_frame_ptr
,
getSensorPtr
(),
getSensorPtr
(),
key_frame_ptr
->
getTimeStamp
(),
key_frame_ptr
->
getTimeStamp
(),
Eigen
::
VectorXs
::
Zero
(
data_size_
),
Eigen
::
VectorXs
::
Zero
(
data_size_
),
Eigen
::
MatrixXs
::
Zero
(
data_size_
,
data_size_
),
Eigen
::
MatrixXs
::
Zero
(
data_size_
,
data_size_
),
last_ptr_
->
getCalibration
(),
last_ptr_
->
getCalibration
(),
last_ptr_
->
getCalibration
(),
last_ptr_
->
getCalibration
(),
key_frame_ptr
);
key_frame_ptr
);
// reset the new buffer
// reset the new buffer
new_capture_ptr
->
getBuffer
().
get
().
clear
();
new_capture_ptr
->
getBuffer
().
get
().
clear
();
new_capture_ptr
->
getBuffer
().
get
().
push_back
(
motionZero
(
key_frame_ptr
->
getTimeStamp
())
)
;
new_capture_ptr
->
getBuffer
().
get
().
push_back
(
motionZero
(
key_frame_ptr
->
getTimeStamp
())
)
;
...
@@ -167,7 +167,7 @@ void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
...
@@ -167,7 +167,7 @@ void ProcessorMotion::getState(const TimeStamp& _ts, Eigen::VectorXs& _x)
CaptureMotionPtr
ProcessorMotion
::
findCaptureContainingTimeStamp
(
const
TimeStamp
&
_ts
)
const
CaptureMotionPtr
ProcessorMotion
::
findCaptureContainingTimeStamp
(
const
TimeStamp
&
_ts
)
const
{
{
//std::cout << "ProcessorMotion::findCaptureContainingTimeStamp: ts = " << _ts.getSeconds() << "." << _ts.getNanoSeconds() << std::endl;
//std::cout << "ProcessorMotion::findCaptureContainingTimeStamp: ts = " << _ts.getSeconds() << "." << _ts.getNanoSeconds() << std::endl;
auto
capture_ptr
=
last_ptr_
;
CaptureMotionPtr
capture_ptr
=
last_ptr_
;
while
(
capture_ptr
!=
nullptr
)
while
(
capture_ptr
!=
nullptr
)
{
{
// capture containing motion previous than the ts found:
// capture containing motion previous than the ts found:
...
@@ -221,9 +221,9 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
...
@@ -221,9 +221,9 @@ void ProcessorMotion::setOrigin(FrameBasePtr _origin_frame)
// ---------- LAST ----------
// ---------- LAST ----------
// Make non-key-frame for last Capture
// Make non-key-frame for last Capture
FrameBasePtr
new_frame_ptr
=
getProblem
()
->
emplaceFrame
(
NON_KEY_FRAME
,
auto
new_frame_ptr
=
getProblem
()
->
emplaceFrame
(
NON_KEY_FRAME
,
_origin_frame
->
getState
(),
_origin_frame
->
getState
(),
_origin_frame
->
getTimeStamp
());
_origin_frame
->
getTimeStamp
());
// emplace (emtpy) last Capture
// emplace (emtpy) last Capture
last_ptr_
=
emplaceCapture
(
new_frame_ptr
,
last_ptr_
=
emplaceCapture
(
new_frame_ptr
,
getSensorPtr
(),
getSensorPtr
(),
...
@@ -259,22 +259,22 @@ bool ProcessorMotion::keyFrameCallback(FrameBasePtr _new_keyframe, const Scalar&
...
@@ -259,22 +259,22 @@ bool ProcessorMotion::keyFrameCallback(FrameBasePtr _new_keyframe, const Scalar&
TimeStamp
new_ts
=
_new_keyframe
->
getTimeStamp
();
TimeStamp
new_ts
=
_new_keyframe
->
getTimeStamp
();
// find the capture whose buffer is affected by the new keyframe
// find the capture whose buffer is affected by the new keyframe
CaptureMotionPtr
existing_capture
=
findCaptureContainingTimeStamp
(
new_ts
);
auto
existing_capture
=
findCaptureContainingTimeStamp
(
new_ts
);
assert
(
existing_capture
!=
nullptr
assert
(
existing_capture
!=
nullptr
&&
"ProcessorMotion::keyFrameCallback: no motion capture containing the required TimeStamp found"
);
&&
"ProcessorMotion::keyFrameCallback: no motion capture containing the required TimeStamp found"
);
// Find the frame acting as the capture's origin
// Find the frame acting as the capture's origin
FrameBasePtr
keyframe_origin
=
existing_capture
->
getOriginFramePtr
();
auto
keyframe_origin
=
existing_capture
->
getOriginFramePtr
();
// emplace a new motion capture to the new keyframe
// emplace a new motion capture to the new keyframe
CaptureMotionPtr
new_capture
=
emplaceCapture
(
_new_keyframe
,
auto
new_capture
=
emplaceCapture
(
_new_keyframe
,
getSensorPtr
(),
getSensorPtr
(),
new_ts
,
new_ts
,
Eigen
::
VectorXs
::
Zero
(
data_size_
),
Eigen
::
VectorXs
::
Zero
(
data_size_
),
existing_capture
->
getDataCovariance
(),
existing_capture
->
getDataCovariance
(),
existing_capture
->
getCalibration
(),
existing_capture
->
getCalibration
(),
existing_capture
->
getCalibration
(),
existing_capture
->
getCalibration
(),
keyframe_origin
);
keyframe_origin
);
// split the buffer
// split the buffer
// and give the part of the buffer before the new keyframe to the key_capture
// and give the part of the buffer before the new keyframe to the key_capture
...
@@ -292,7 +292,7 @@ bool ProcessorMotion::keyFrameCallback(FrameBasePtr _new_keyframe, const Scalar&
...
@@ -292,7 +292,7 @@ bool ProcessorMotion::keyFrameCallback(FrameBasePtr _new_keyframe, const Scalar&
}
}
// create motion feature and add it to the capture
// create motion feature and add it to the capture
FeatureBasePtr
new_feature
=
emplaceFeature
(
new_capture
);
auto
new_feature
=
emplaceFeature
(
new_capture
);
// create motion constraint and add it to the feature, and constrain to the other capture (origin)
// create motion constraint and add it to the feature, and constrain to the other capture (origin)
emplaceConstraint
(
new_feature
,
keyframe_origin
->
getCaptureOf
(
getSensorPtr
())
);
// XXX it was new_keyframe_origin
emplaceConstraint
(
new_feature
,
keyframe_origin
->
getCaptureOf
(
getSensorPtr
())
);
// XXX it was new_keyframe_origin
...
...
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