From c007e1a629911b7fc562f16e36ee14bb652ed6e0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Thu, 15 Mar 2018 23:39:46 +0100
Subject: [PATCH] Reorder params in ProcessorMotion constructor
---
src/processor_IMU.cpp | 2 +-
src/processor_base.h | 2 ++
src/processor_motion.cpp | 5 ++---
src/processor_motion.h | 11 ++---------
src/processor_odom_2D.cpp | 5 +++--
src/processor_odom_2D.h | 3 ++-
src/processor_odom_3D.cpp | 2 +-
src/processors/processor_diff_drive.cpp | 2 +-
8 files changed, 14 insertions(+), 18 deletions(-)
diff --git a/src/processor_IMU.cpp b/src/processor_IMU.cpp
index 2e6340d05..c31c0533e 100644
--- a/src/processor_IMU.cpp
+++ b/src/processor_IMU.cpp
@@ -4,7 +4,7 @@
namespace wolf {
ProcessorIMU::ProcessorIMU(ProcessorIMUParamsPtr _params) :
- ProcessorMotion("IMU", 10, 10, 9, 6, 0.01, 6),
+ ProcessorMotion("IMU", 10, 10, 9, 6, 6, 0.01),
max_time_span_ (_params ? _params ->max_time_span : 1.0 ),
max_buff_length_(_params ? _params ->max_buff_length : 10000 ),
dist_traveled_ (_params ? _params ->dist_traveled : 1.0 ),
diff --git a/src/processor_base.h b/src/processor_base.h
index c8b6f7381..87ba0f2f7 100644
--- a/src/processor_base.h
+++ b/src/processor_base.h
@@ -20,6 +20,8 @@ namespace wolf {
/** \brief Key frame class pack
*
* To store a key_frame with an associated time tolerance.
+ *
+ * Used in keyframe callbacks as the minimal pack of information needed by the processor receiving the callback.
*/
class KFPack
{
diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index cd0a26154..63cf1e074 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -7,8 +7,8 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
Size _delta_size,
Size _delta_cov_size,
Size _data_size,
- Scalar _time_tolerance,
- Size _calib_size) :
+ Size _calib_size,
+ Scalar _time_tolerance) :
ProcessorBase(_type, _time_tolerance),
processing_step_(RUNNING_WITHOUT_PACK),
x_size_(_state_size),
@@ -30,7 +30,6 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
jacobian_delta_(delta_cov_size_, delta_cov_size_),
jacobian_calib_(delta_size_, calib_size_)
{
- status_ = IDLE;
//
}
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 93d1af04a..bc1246972 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -110,13 +110,6 @@ class ProcessorMotion : public ProcessorBase
protected:
ProcessingStep processing_step_; ///< State machine controlling the processing step
- private:
- enum
- {
- IDLE,
- RUNNING
- } status_;
-
// This is the main public interface
public:
ProcessorMotion(const std::string& _type,
@@ -124,8 +117,8 @@ class ProcessorMotion : public ProcessorBase
Size _delta_size,
Size _delta_cov_size,
Size _data_size,
- Scalar _time_tolerance = 0.1,
- Size _calib_size = 0);
+ Size _calib_size = 0,
+ Scalar _time_tolerance = 0.1);
virtual ~ProcessorMotion();
// Instructions to the processor:
diff --git a/src/processor_odom_2D.cpp b/src/processor_odom_2D.cpp
index a5cc0a1a3..c95bda8bc 100644
--- a/src/processor_odom_2D.cpp
+++ b/src/processor_odom_2D.cpp
@@ -6,8 +6,9 @@ ProcessorOdom2D::ProcessorOdom2D(const Scalar& _dist_traveled_th,
const Scalar& _theta_traveled_th,
const Scalar& _cov_det_th,
const Scalar& _elapsed_time_th,
- const Scalar& _unmeasured_perturbation_std) :
- ProcessorMotion("ODOM 2D", 3, 3, 3, 2),
+ const Scalar& _unmeasured_perturbation_std,
+ const Scalar& _time_tolerance) :
+ ProcessorMotion("ODOM 2D", 3, 3, 3, 2, 0, _time_tolerance),
dist_traveled_th_(_dist_traveled_th),
theta_traveled_th_(_theta_traveled_th),
cov_det_th_(_cov_det_th),
diff --git a/src/processor_odom_2D.h b/src/processor_odom_2D.h
index c9b10b140..251533a25 100644
--- a/src/processor_odom_2D.h
+++ b/src/processor_odom_2D.h
@@ -35,7 +35,8 @@ class ProcessorOdom2D : public ProcessorMotion
const Scalar& _theta_traveled_th = 0.17,
const Scalar& _cov_det_th = 1.0,
const Scalar& _elapsed_time_th = 1.0,
- const Scalar& _unmeasured_perturbation_std = 0.001);
+ const Scalar& _unmeasured_perturbation_std = 0.001,
+ const Scalar& _time_tolerance = 0.01);
virtual ~ProcessorOdom2D();
virtual bool voteForKeyFrame() override;
diff --git a/src/processor_odom_3D.cpp b/src/processor_odom_3D.cpp
index 70b31a443..d0eb4dc5f 100644
--- a/src/processor_odom_3D.cpp
+++ b/src/processor_odom_3D.cpp
@@ -3,7 +3,7 @@ namespace wolf
{
ProcessorOdom3D::ProcessorOdom3D(ProcessorOdom3DParamsPtr _params, SensorOdom3DPtr _sensor_ptr) :
- ProcessorMotion("ODOM 3D", 7, 7, 6, 6),
+ ProcessorMotion("ODOM 3D", 7, 7, 6, 6, 0, (_params ? _params->time_tolerance : 0.01) ),
max_time_span_ (_params ? _params ->max_time_span : 1.0 ),
max_buff_length_(_params ? _params ->max_buff_length : 10 ),
dist_traveled_ (_params ? _params ->dist_traveled : 1.0 ),
diff --git a/src/processors/processor_diff_drive.cpp b/src/processors/processor_diff_drive.cpp
index 535cd5c17..8031040ce 100644
--- a/src/processors/processor_diff_drive.cpp
+++ b/src/processors/processor_diff_drive.cpp
@@ -13,7 +13,7 @@ namespace wolf
{
ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive ¶ms) :
- ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 0.15, 3),
+ ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 3, 0.15),
unmeasured_perturbation_cov_(Matrix3s::Identity()*
params.unmeasured_perturbation_std_*
params.unmeasured_perturbation_std_),
--
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