diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1789e63307e8231e2d27547204b4fa710ef33733..cb7a6505583cc4f7a0a3f630c1d50ab827991e51 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -245,8 +245,8 @@ SET(HDRS_LANDMARK
include/core/landmark/landmark_match.h
)
SET(HDRS_PROCESSOR
- include/core/processor/is_motion.h
include/core/processor/motion_buffer.h
+ include/core/processor/motion_provider.h
include/core/processor/processor_base.h
include/core/processor/processor_diff_drive.h
include/core/processor/processor_fix_wing_model.h
@@ -346,8 +346,8 @@ SET(SRCS_LANDMARK
src/landmark/landmark_base.cpp
)
SET(SRCS_PROCESSOR
- src/processor/is_motion.cpp
src/processor/motion_buffer.cpp
+ src/processor/motion_provider.cpp
src/processor/processor_base.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_fix_wing_model.cpp
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index 705ebba5b41ee5b7cba77b2b20cbe2b0abcd7289..ff61e98421bee4da4c49d6a96b535286802a8d69 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -144,7 +144,7 @@ int main()
// APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
TimeStamp t(0.0);
FrameBasePtr KF1 = problem->applyPriorOptions(t);
- std::static_pointer_cast<ProcessorMotion>(problem->getProcessorIsMotion())->setOrigin(KF1);
+ std::static_pointer_cast<ProcessorMotion>(problem->getMotionProvider())->setOrigin(KF1);
// SELF CALIBRATION ===================================================
// These few lines control whether we calibrate some sensor parameters or not.
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 8e7c83e628d9a0edc200d797ec3eeebc17286c41..258f3255af666bef03a6658f4ac1f2de801eb145 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -42,7 +42,7 @@ struct ParamsProcessorBase;
#include "core/utils/params_server.h"
#include "core/sensor/factory_sensor.h"
#include "core/processor/factory_processor.h"
-#include "core/processor/is_motion.h"
+#include <core/processor/motion_provider.h>
#include "core/state_block/state_composite.h"
// std includes
@@ -72,14 +72,14 @@ class Problem : public std::enable_shared_from_this<Problem>
friend SolverManager; // Enable SolverManager to acces protected functions (consumeXXXNotificationMap())
friend ProcessorBase;
friend ProcessorMotion;
- friend IsMotion;
+ friend MotionProvider;
protected:
TreeManagerBasePtr tree_manager_;
HardwareBasePtr hardware_ptr_;
TrajectoryBasePtr trajectory_ptr_;
MapBasePtr map_ptr_;
- std::map<int, IsMotionPtr> processor_is_motion_map_;
+ std::map<int, MotionProviderPtr> motion_provider_map_;
std::map<std::pair<StateBlockPtr, StateBlockPtr>, Eigen::MatrixXd> covariances_;
SizeEigen state_size_, state_cov_size_, dim_;
std::map<FactorBasePtr, Notification> factor_notification_map_;
@@ -194,13 +194,13 @@ class Problem : public std::enable_shared_from_this<Problem>
*
* Add a new processor of type is motion to the processor is motion list.
*/
- void addProcessorIsMotion(IsMotionPtr _processor_motion_ptr);
- void removeProcessorIsMotion(IsMotionPtr proc);
+ void addMotionProvider(MotionProviderPtr _processor_motion_ptr);
+ void removeMotionProvider(MotionProviderPtr proc);
public:
- IsMotionPtr getProcessorIsMotion();
- std::map<int,IsMotionPtr>& getProcessorIsMotionMap();
- const std::map<int,IsMotionPtr>& getProcessorIsMotionMap() const;
+ MotionProviderPtr getMotionProvider();
+ std::map<int,MotionProviderPtr>& getMotionProviderMap();
+ const std::map<int,MotionProviderPtr>& getMotionProviderMap() const;
// Trajectory branch ----------------------------------
TrajectoryBasePtr getTrajectory() const;
@@ -449,21 +449,21 @@ inline bool Problem::isPriorSet() const
return prior_options_ == nullptr;
}
-inline IsMotionPtr Problem::getProcessorIsMotion()
+inline MotionProviderPtr Problem::getMotionProvider()
{
- if (not processor_is_motion_map_.empty())
- return processor_is_motion_map_.begin()->second;
+ if (not motion_provider_map_.empty())
+ return motion_provider_map_.begin()->second;
return nullptr;
}
-inline std::map<int,IsMotionPtr>& Problem::getProcessorIsMotionMap()
+inline std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
{
- return processor_is_motion_map_;
+ return motion_provider_map_;
}
-inline const std::map<int,IsMotionPtr>& Problem::getProcessorIsMotionMap() const
+inline const std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap() const
{
- return processor_is_motion_map_;
+ return motion_provider_map_;
}
inline SizeStd Problem::getStateBlockNotificationMapSize() const
diff --git a/include/core/processor/is_motion.h b/include/core/processor/motion_provider.h
similarity index 68%
rename from include/core/processor/is_motion.h
rename to include/core/processor/motion_provider.h
index f0607c1f584b856fa2957c29b115c165395f41b1..da27ccb6e08fc6f22577bc5dcc6678e2b68dcfca 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/motion_provider.h
@@ -20,14 +20,14 @@
//
//--------LICENSE_END--------
/**
- * \file is_motion.h
+ * \file motion_provider.h
*
* Created on: Mar 10, 2020
* \author: jsola
*/
-#ifndef PROCESSOR_IS_MOTION_H_
-#define PROCESSOR_IS_MOTION_H_
+#ifndef PROCESSOR_MOTION_PROVIDER_H_
+#define PROCESSOR_MOTION_PROVIDER_H_
#include "core/common/wolf.h"
#include "core/state_block/state_composite.h"
@@ -36,15 +36,15 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ParamsIsMotion);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsMotionProvider);
-struct ParamsIsMotion
+struct ParamsMotionProvider
{
bool state_getter = true;
int state_priority = 1;
- ParamsIsMotion() = default;
- ParamsIsMotion(std::string _unique_name, const ParamsServer& _server)
+ ParamsMotionProvider() = default;
+ ParamsMotionProvider(std::string _unique_name, const ParamsServer& _server)
{
state_getter = _server.getParam<bool>("processor/" + _unique_name + "/state_getter");
state_priority = _server.getParam<double>("processor/" + _unique_name + "/state_priority");
@@ -58,14 +58,14 @@ struct ParamsIsMotion
};
class TimeStamp;
-WOLF_PTR_TYPEDEFS(IsMotion);
+WOLF_PTR_TYPEDEFS(MotionProvider);
-class IsMotion
+class MotionProvider
{
public:
- IsMotion(const StateStructure& _structure, ParamsIsMotionPtr _params);
- virtual ~IsMotion();
+ MotionProvider(const StateStructure& _structure, ParamsMotionProviderPtr _params);
+ virtual ~MotionProvider();
// Queries to the processor:
virtual TimeStamp getTimeStamp() const = 0;
@@ -82,22 +82,22 @@ class IsMotion
public:
const StateStructure& getStateStructure ( ) { return state_structure_; };
void setStateStructure(std::string _state_structure) { state_structure_ = _state_structure; };
- void addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr);
+ void addToProblem(ProblemPtr _prb_ptr, MotionProviderPtr _motion_ptr);
protected:
StateStructure state_structure_; ///< The structure of the state vector (to retrieve state blocks from frames)
VectorComposite odometry_;
- ParamsIsMotionPtr params_is_motion_;
+ ParamsMotionProviderPtr params_motion_provider_;
};
-inline IsMotion::IsMotion(const StateStructure& _structure, ParamsIsMotionPtr _params) :
+inline MotionProvider::MotionProvider(const StateStructure& _structure, ParamsMotionProviderPtr _params) :
state_structure_(_structure),
- params_is_motion_(_params)
+ params_motion_provider_(_params)
{
//
}
-inline wolf::VectorComposite IsMotion::getOdometry ( ) const
+inline wolf::VectorComposite MotionProvider::getOdometry ( ) const
{
return odometry_;
}
@@ -107,25 +107,25 @@ inline wolf::VectorComposite IsMotion::getOdometry ( ) const
///// IMPLEMENTATION ///////
namespace wolf{
-inline IsMotion::~IsMotion()
+inline MotionProvider::~MotionProvider()
{
}
-inline bool IsMotion::isStateGetter() const
+inline bool MotionProvider::isStateGetter() const
{
- return params_is_motion_->state_getter;
+ return params_motion_provider_->state_getter;
}
-inline int IsMotion::getStatePriority() const
+inline int MotionProvider::getStatePriority() const
{
- return params_is_motion_->state_priority;
+ return params_motion_provider_->state_priority;
}
-inline void IsMotion::setStatePriority(int _priority)
+inline void MotionProvider::setStatePriority(int _priority)
{
- params_is_motion_->state_priority = _priority;
+ params_motion_provider_->state_priority = _priority;
}
} /* namespace wolf */
-#endif /* PROCESSOR_IS_MOTION_H_ */
+#endif /* PROCESSOR_MOTION_PROVIDER_H_ */
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index e0c26dca49ba4e05a50303853f2426225c0cc01b..84996921ca13b9813e23724e709da3ed30afe28e 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -30,7 +30,7 @@ class SensorBase;
// Wolf includes
#include "core/common/wolf.h"
#include "core/common/node_base.h"
-#include "core/processor/is_motion.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"
@@ -378,7 +378,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void setSensor(SensorBasePtr _sen_ptr){sensor_ptr_ = _sen_ptr;}
public:
- bool isMotion() const;
+ bool isMotionProvider() const;
void setTimeTolerance(double _time_tolerance);
@@ -448,10 +448,10 @@ inline void ProcessorBase::setVotingActive(bool _voting_active)
params_->voting_active = _voting_active;
}
-inline bool ProcessorBase::isMotion() const
+inline bool ProcessorBase::isMotionProvider() const
{
- // check if this inherits from IsMotion
- return (std::dynamic_pointer_cast<const IsMotion>(shared_from_this()) != nullptr);
+ // check if this inherits from MotionProvider
+ return (std::dynamic_pointer_cast<const MotionProvider>(shared_from_this()) != nullptr);
}
inline unsigned int ProcessorBase::id() const
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 44437086be1c96e01fb8693dd88e585cf0a5e979..643f19336d4d5859894517557e1ee5f90ea9b523 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -30,9 +30,9 @@
#define PROCESSOR_MOTION_H_
// Wolf
+#include <core/processor/motion_provider.h>
#include "core/capture/capture_motion.h"
#include "core/processor/processor_base.h"
-#include "core/processor/is_motion.h"
#include "core/common/time_stamp.h"
#include "core/utils/params_server.h"
@@ -44,7 +44,7 @@ namespace wolf
WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorMotion);
-struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsIsMotion
+struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsMotionProvider
{
double max_time_span = 0.5;
unsigned int max_buff_length = 10;
@@ -55,7 +55,7 @@ struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsIsMotion
ParamsProcessorMotion() = default;
ParamsProcessorMotion(std::string _unique_name, const ParamsServer& _server):
ParamsProcessorBase(_unique_name, _server),
- ParamsIsMotion(_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");
@@ -66,7 +66,7 @@ struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsIsMotion
std::string print() const override
{
return ParamsProcessorBase::print() + "\n" +
- ParamsIsMotion::print() + "\n"
+ ParamsMotionProvider::print() + "\n"
+ "max_time_span: " + std::to_string(max_time_span) + "\n"
+ "max_buff_length: " + std::to_string(max_buff_length) + "\n"
+ "dist_traveled: " + std::to_string(dist_traveled) + "\n"
@@ -153,7 +153,7 @@ struct ParamsProcessorMotion : public ParamsProcessorBase, public ParamsIsMotion
* // TODO: JS: review instructions up to here
*
*/
-class ProcessorMotion : public ProcessorBase, public IsMotion
+class ProcessorMotion : public ProcessorBase, public MotionProvider
{
public:
typedef enum {
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 8422be1cbeb5a4fb49d86aa40f6b2688460caf43..0627215bf19e5d8a50f7728e4c8ae376f320f77f 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -66,7 +66,7 @@ Problem::Problem(const std::string& _frame_structure, SizeEigen _dim) :
hardware_ptr_(std::make_shared<HardwareBase>()),
trajectory_ptr_(std::make_shared<TrajectoryBase>()),
map_ptr_(std::make_shared<MapBase>()),
- processor_is_motion_map_(),
+ motion_provider_map_(),
frame_structure_(_frame_structure),
prior_options_(std::make_shared<PriorOptions>())
{
@@ -442,7 +442,7 @@ TimeStamp Problem::getTimeStamp ( ) const
{
TimeStamp ts = TimeStamp::Invalid();
- for (const auto& prc_pair : processor_is_motion_map_)
+ for (const auto& prc_pair : motion_provider_map_)
if (prc_pair.second->getTimeStamp().ok())
if ( (not ts.ok() ) or prc_pair.second->getTimeStamp() > ts)
ts = prc_pair.second->getTimeStamp();
@@ -469,8 +469,8 @@ VectorComposite Problem::getState(const StateStructure& _structure) const
VectorComposite state;
- // compose the states of all IsMotion processors (ordered by user-defined priority) into one only state
- for (const auto& prc_pair : processor_is_motion_map_)
+ // compose the states of all MotionProvider processors (ordered by user-defined priority) into one only state
+ for (const auto& prc_pair : motion_provider_map_)
{
const auto& prc_state = prc_pair.second->getState(structure);
@@ -517,8 +517,8 @@ VectorComposite Problem::getState (const TimeStamp& _ts, const StateStructure& _
VectorComposite state;
- // compose the states of all IsMotion processors (ordered by user-defined priority) into one only state
- for (const auto& prc_pair : processor_is_motion_map_)
+ // compose the states of all MotionProvider processors (ordered by user-defined priority) into one only state
+ for (const auto& prc_pair : motion_provider_map_)
{
const auto& prc_state = prc_pair.second->getState(_ts, structure);
@@ -565,8 +565,8 @@ VectorComposite Problem::getOdometry(const StateStructure& _structure) const
VectorComposite odom_state;
- // compose the states of all IsMotion processors (ordered by user-defined priority) into one only state
- for (const auto& prc_pair : processor_is_motion_map_)
+ // compose the states of all MotionProvider processors (ordered by user-defined priority) into one only state
+ for (const auto& prc_pair : motion_provider_map_)
{
const auto& prc_state = prc_pair.second->getOdometry();
@@ -628,39 +628,39 @@ void Problem::setTreeManager(TreeManagerBasePtr _gm)
}
-void Problem::addProcessorIsMotion(IsMotionPtr _is_motion_ptr)
+void Problem::addMotionProvider(MotionProviderPtr _motion_provider_ptr)
{
// Check if is state getter
- if (not _is_motion_ptr->isStateGetter())
+ if (not _motion_provider_ptr->isStateGetter())
{
- WOLF_WARN("Problem::addProcessorIsMotion: adding a IsMotion processor with state_getter=false. Not adding this processor");
+ WOLF_WARN("Problem::addMotionProvider: adding a MotionProvider processor with state_getter=false. Not adding this processor");
return;
}
// check duplicated priority
- while (processor_is_motion_map_.count(_is_motion_ptr->getStatePriority()) == 1)
+ while (motion_provider_map_.count(_motion_provider_ptr->getStatePriority()) == 1)
{
- WOLF_ERROR("Problem::addProcessorIsMotion: adding a IsMotion processor with priority = ",
- _is_motion_ptr->getStatePriority(),
+ WOLF_ERROR("Problem::addMotionProvider: adding a MotionProvider processor with priority = ",
+ _motion_provider_ptr->getStatePriority(),
" which is already taken. Trying to add it with priority = ",
- _is_motion_ptr->getStatePriority()+1);
- _is_motion_ptr->setStatePriority(_is_motion_ptr->getStatePriority()+1);
+ _motion_provider_ptr->getStatePriority()+1);
+ _motion_provider_ptr->setStatePriority(_motion_provider_ptr->getStatePriority()+1);
}
// add to map ordered by priority
- processor_is_motion_map_.emplace(_is_motion_ptr->getStatePriority(), _is_motion_ptr);
- appendToStructure(_is_motion_ptr->getStateStructure());
+ motion_provider_map_.emplace(_motion_provider_ptr->getStatePriority(), _motion_provider_ptr);
+ appendToStructure(_motion_provider_ptr->getStateStructure());
}
-void Problem::removeProcessorIsMotion(IsMotionPtr proc)
+void Problem::removeMotionProvider(MotionProviderPtr proc)
{
- WOLF_WARN_COND(processor_is_motion_map_.count(proc->getStatePriority()) == 0, "Problem::clearProcessorIsMotion: missing processor");
+ WOLF_WARN_COND(motion_provider_map_.count(proc->getStatePriority()) == 0, "Problem::clearMotionProvider: missing processor");
- processor_is_motion_map_.erase(proc->getStatePriority());
+ motion_provider_map_.erase(proc->getStatePriority());
// rebuild frame structure with remaining motion processors
frame_structure_.clear();
- for (const auto& pm : processor_is_motion_map_)
+ for (const auto& pm : motion_provider_map_)
appendToStructure(pm.second->getStateStructure());
}
@@ -698,7 +698,7 @@ bool Problem::permitKeyFrame(ProcessorBasePtr _processor_ptr) const
void Problem::keyFrameCallback(FrameBasePtr _keyframe_ptr, ProcessorBasePtr _processor_ptr, const double& _time_tolerance)
{
- WOLF_DEBUG_COND(_processor_ptr!=nullptr,(_processor_ptr->isMotion() ? "PM " : "PT "), _processor_ptr->getName(), ": KF", _keyframe_ptr->id(), " Callback emitted with ts = ", _keyframe_ptr->getTimeStamp());
+ WOLF_DEBUG_COND(_processor_ptr!=nullptr,(_processor_ptr->isMotionProvider() ? "PM " : "PT "), _processor_ptr->getName(), ": KF", _keyframe_ptr->id(), " Callback emitted with ts = ", _keyframe_ptr->getTimeStamp());
WOLF_DEBUG_COND(_processor_ptr==nullptr,"External callback: KF", _keyframe_ptr->id(), " Callback emitted with ts = ", _keyframe_ptr->getTimeStamp());
// pause processor profiling
@@ -1088,7 +1088,7 @@ FrameBasePtr Problem::applyPriorOptions(const TimeStamp& _ts)
prior_keyframe = emplaceFrame(_ts, frame_structure_, prior_options_->state);
// Update origin for odometry processors
- for (auto proc_pair : processor_is_motion_map_)
+ for (auto proc_pair : motion_provider_map_)
proc_pair.second->setOdometry(prior_options_->state);
if (prior_options_->mode == "fix")
diff --git a/src/processor/is_motion.cpp b/src/processor/motion_provider.cpp
similarity index 71%
rename from src/processor/is_motion.cpp
rename to src/processor/motion_provider.cpp
index 9ec0b07307408cf0aa3fc0241d25907d1eed8a7f..2ffbe2d2b9032621cc848b9531fa487b9fa791f7 100644
--- a/src/processor/is_motion.cpp
+++ b/src/processor/motion_provider.cpp
@@ -19,25 +19,25 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
-#include "core/processor/is_motion.h"
+#include <core/processor/motion_provider.h>
#include "core/problem/problem.h"
using namespace wolf;
-void IsMotion::addToProblem(ProblemPtr _prb_ptr, IsMotionPtr _motion_ptr)
+void MotionProvider::addToProblem(ProblemPtr _prb_ptr, MotionProviderPtr _motion_ptr)
{
setOdometry(_prb_ptr->stateZero(state_structure_));
if (not isStateGetter())
{
- WOLF_WARN("IsMotion::addToProblem: IsMotion processor with state_getter=false. Not adding this processor");
+ WOLF_WARN("MotionProvider::addToProblem: MotionProvider processor with state_getter=false. Not adding this processor");
return;
}
- _prb_ptr->addProcessorIsMotion(_motion_ptr);
+ _prb_ptr->addMotionProvider(_motion_ptr);
}
-void IsMotion::setOdometry(const VectorComposite& _odom)
+void MotionProvider::setOdometry(const VectorComposite& _odom)
{
- assert(_odom.includesStructure(state_structure_) && "IsMotion::setOdometry(): any key missing in _odom.");
+ assert(_odom.includesStructure(state_structure_) && "MotionProvider::setOdometry(): any key missing in _odom.");
for (auto key : state_structure_)
odometry_[key] = _odom.at(key); //overwrite/insert only keys of the state_structure_
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 5046d2a6be1c6e4540bc22031daec8666d4f2f2c..b3f1404cb4f00af9ca93b6da14915a102f6095d9 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -57,7 +57,7 @@ bool ProcessorBase::permittedKeyFrame()
void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const double& _time_tol_other)
{
assert(_keyframe_ptr != nullptr && "keyFrameCallback with a nullptr frame");
- WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
+ WOLF_DEBUG("P", isMotionProvider() ? "M " : "T ", getName(), ": KF", _keyframe_ptr->id(), " callback received with ts = ", _keyframe_ptr->getTimeStamp());
// profiling
n_kf_callback_++;
@@ -78,7 +78,7 @@ void ProcessorBase::keyFrameCallback(FrameBasePtr _keyframe_ptr, const double& _
void ProcessorBase::captureCallback(CaptureBasePtr _capture_ptr)
{
assert(_capture_ptr != nullptr && "captureCallback with a nullptr capture");
- WOLF_DEBUG("P", isMotion() ? "M " : "T ", getName(), ": Capture ", _capture_ptr->id(), " callback received with ts = ", _capture_ptr->getTimeStamp());
+ WOLF_DEBUG("P", isMotionProvider() ? "M " : "T ", getName(), ": Capture ", _capture_ptr->id(), " callback received with ts = ", _capture_ptr->getTimeStamp());
// profiling
n_capture_callback_++;
@@ -107,12 +107,12 @@ void ProcessorBase::remove()
is_removing_ = true;
ProcessorBasePtr this_p = shared_from_this();
- if (isMotion())
+ if (isMotionProvider())
{
ProblemPtr P = getProblem();
- auto this_proc_cast_attempt = std::dynamic_pointer_cast<IsMotion>( shared_from_this() );
+ auto this_proc_cast_attempt = std::dynamic_pointer_cast<MotionProvider>( shared_from_this() );
if(P && this_proc_cast_attempt )
- P->removeProcessorIsMotion(this_proc_cast_attempt);
+ P->removeMotionProvider(this_proc_cast_attempt);
}
// remove from upstream
@@ -150,9 +150,9 @@ void ProcessorBase::setProblem(ProblemPtr _problem)
NodeBase::setProblem(_problem);
// adding processor is motion to the processor is motion vector
- auto is_motion_ptr = std::dynamic_pointer_cast<IsMotion>(shared_from_this());
- if (is_motion_ptr)
- is_motion_ptr->addToProblem(_problem, is_motion_ptr);
+ auto motion_provider_ptr = std::dynamic_pointer_cast<MotionProvider>(shared_from_this());
+ if (motion_provider_ptr)
+ motion_provider_ptr->addToProblem(_problem, motion_provider_ptr);
}
/////////////////////////////////////////////////////////////////////////////////////////
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 9b80af2d981cf234fd2539ce2f5f85f9f335ebb6..b0adf6d2b39aac5050b3399deacee8a1a7fe2e27 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -44,7 +44,7 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
SizeEigen _calib_size,
ParamsProcessorMotionPtr _params_motion) :
ProcessorBase(_type, _dim, _params_motion),
- IsMotion(_state_structure, _params_motion),
+ MotionProvider(_state_structure, _params_motion),
params_motion_(_params_motion),
processing_step_(RUNNING_WITHOUT_KF),
x_size_(_state_size),
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 185e0eb5ba6c3f0a87a5cf4f913047388439a335..760497fb3c58121df45e64f106a8adfeababf746 100644
--- a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -52,14 +52,14 @@ void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _frame)
params_swdr_->n_frames_recent - 1)->second;
// compose motion captures for all processors motion
- for (auto is_motion_pair : getProblem()->getProcessorIsMotionMap())
+ for (auto motion_provider_pair : getProblem()->getMotionProviderMap())
{
- auto proc_motion = std::dynamic_pointer_cast<ProcessorMotion>(is_motion_pair.second);
+ auto proc_motion = std::dynamic_pointer_cast<ProcessorMotion>(motion_provider_pair.second);
if (proc_motion == nullptr)
{
- // FIXME: IsMotion::mergeCaptures pure virtual in IsMotion without need of casting
- WOLF_INFO("TreeManagerSlidingWindowDualRate::keyFrameCallback: IsMotion ",
- std::dynamic_pointer_cast<ProcessorBase>(is_motion_pair.second)->getName(),
+ // FIXME: MotionProvider::mergeCaptures pure virtual in MotionProvider without need of casting
+ WOLF_INFO("TreeManagerSlidingWindowDualRate::keyFrameCallback: MotionProvider ",
+ std::dynamic_pointer_cast<ProcessorBase>(motion_provider_pair.second)->getName(),
" couldn't be casted to ProcessorMotion. Not merging its captures...");
continue;
}
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 46964ac57b3430b8113edbb7ee23d4923fc0d50b..0615b91df543890745e5aeb9f5f687aaead81ae8 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -89,8 +89,8 @@ wolf_add_gtest(gtest_has_state_blocks gtest_has_state_blocks.cpp)
target_link_libraries(gtest_has_state_blocks ${PLUGIN_NAME})
# IsMotion classes test
-wolf_add_gtest(gtest_is_motion gtest_is_motion.cpp)
-target_link_libraries(gtest_is_motion ${PLUGIN_NAME})
+wolf_add_gtest(gtest_motion_provider gtest_motion_provider.cpp)
+target_link_libraries(gtest_motion_provider ${PLUGIN_NAME})
# LocalParametrizationXxx classes test
wolf_add_gtest(gtest_local_param gtest_local_param.cpp)
diff --git a/test/dummy/processor_is_motion_dummy.h b/test/dummy/processor_motion_provider_dummy.h
similarity index 68%
rename from test/dummy/processor_is_motion_dummy.h
rename to test/dummy/processor_motion_provider_dummy.h
index 08ef74ff9689b2a9714f35226e1b7ff21bb319c8..7337132a0dc857a8a8948abee1b9ad29b4943fdc 100644
--- a/test/dummy/processor_is_motion_dummy.h
+++ b/test/dummy/processor_motion_provider_dummy.h
@@ -20,49 +20,49 @@
//
//--------LICENSE_END--------
/*
- * processor_is_motion_dummy.h
+ * processor_motion_provider_dummy.h
*
* Created on: Mar 8, 2021
* Author: joanvallve
*/
-#ifndef TEST_DUMMY_PROCESSOR_IS_MOTION_DUMMY_H_
-#define TEST_DUMMY_PROCESSOR_IS_MOTION_DUMMY_H_
+#ifndef TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_
+#define TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_
+#include <core/processor/motion_provider.h>
#include "core/processor/processor_base.h"
-#include "core/processor/is_motion.h"
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorIsMotionDummy);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsMotionProviderDummy);
-struct ParamsProcessorIsMotionDummy : public ParamsProcessorBase, public ParamsIsMotion
+struct ParamsMotionProviderDummy : public ParamsProcessorBase, public ParamsMotionProvider
{
std::string state_structure = "PO";
- ParamsProcessorIsMotionDummy() = default;
- ParamsProcessorIsMotionDummy(std::string _unique_name, const ParamsServer& _server):
+ ParamsMotionProviderDummy() = default;
+ ParamsMotionProviderDummy(std::string _unique_name, const ParamsServer& _server):
ParamsProcessorBase(_unique_name, _server),
- ParamsIsMotion(_unique_name, _server)
+ ParamsMotionProvider(_unique_name, _server)
{
};
};
-WOLF_PTR_TYPEDEFS(ProcessorIsMotionDummy);
+WOLF_PTR_TYPEDEFS(MotionProviderDummy);
-class ProcessorIsMotionDummy : public ProcessorBase, public IsMotion
+class MotionProviderDummy : public ProcessorBase, public MotionProvider
{
public:
- ProcessorIsMotionDummy(ParamsProcessorIsMotionDummyPtr _params) :
- ProcessorBase("ProcessorIsMotionDummy", 2, _params),
- IsMotion(_params->state_structure, _params)
+ MotionProviderDummy(ParamsMotionProviderDummyPtr _params) :
+ ProcessorBase("MotionProviderDummy", 2, _params),
+ MotionProvider(_params->state_structure, _params)
{}
- ~ProcessorIsMotionDummy(){};
+ ~MotionProviderDummy(){};
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorIsMotionDummy, ParamsProcessorIsMotionDummy);
+ WOLF_PROCESSOR_CREATE(MotionProviderDummy, ParamsMotionProviderDummy);
void configure(SensorBasePtr _sensor) override {};
void processCapture(CaptureBasePtr) override {};
@@ -90,8 +90,8 @@ class ProcessorIsMotionDummy : public ProcessorBase, public IsMotion
// Register in the FactoryProcessor
#include "core/processor/factory_processor.h"
namespace wolf {
-WOLF_REGISTER_PROCESSOR(ProcessorIsMotionDummy);
-WOLF_REGISTER_PROCESSOR_AUTO(ProcessorIsMotionDummy);
+WOLF_REGISTER_PROCESSOR(MotionProviderDummy);
+WOLF_REGISTER_PROCESSOR_AUTO(MotionProviderDummy);
} // namespace wolf
-#endif /* TEST_DUMMY_PROCESSOR_IS_MOTION_DUMMY_H_ */
+#endif /* TEST_DUMMY_PROCESSOR_MOTION_PROVIDER_DUMMY_H_ */
diff --git a/test/gtest_is_motion.cpp b/test/gtest_motion_provider.cpp
similarity index 82%
rename from test/gtest_is_motion.cpp
rename to test/gtest_motion_provider.cpp
index 222933730d1cece920f68e911301c35cf539e2bc..a4a76f7b64f4bc9ea8019f5c63dc183759d73b1f 100644
--- a/test/gtest_is_motion.cpp
+++ b/test/gtest_motion_provider.cpp
@@ -20,10 +20,11 @@
//
//--------LICENSE_END--------
//Wolf
+#include "dummy/processor_motion_provider_dummy.h"
+
+#include "core/processor/motion_provider.h"
#include "core/utils/utils_gtest.h"
-#include "core/processor/is_motion.h"
-#include "dummy/processor_is_motion_dummy.h"
#include "core/sensor/sensor_odom_2d.h"
#include "core/problem/problem.h"
@@ -36,13 +37,13 @@ using namespace wolf;
using namespace Eigen;
-class IsMotionTest : public testing::Test
+class MotionProviderTest : public testing::Test
{
public:
ProblemPtr problem;
SensorBasePtr sen;
ProcessorBasePtr prc1, prc2, prc3;
- IsMotionPtr im1, im2, im3;
+ MotionProviderPtr im1, im2, im3;
std::string wolf_root = _WOLF_ROOT_DIR;
double dt = 0.01;
@@ -59,37 +60,37 @@ class IsMotionTest : public testing::Test
wolf_root + "/test/yaml/sensor_odom_2d.yaml");
// Install 3 odom processors
- ParamsProcessorIsMotionDummyPtr prc1_params = std::make_shared<ParamsProcessorIsMotionDummy>();
+ ParamsMotionProviderDummyPtr prc1_params = std::make_shared<ParamsMotionProviderDummy>();
prc1_params->time_tolerance = dt/2;
prc1_params->state_structure = "PO";
prc1_params->state_getter = false;
- prc1 = problem->installProcessor("ProcessorIsMotionDummy",
+ prc1 = problem->installProcessor("MotionProviderDummy",
"not getter processor",
sen,
prc1_params);
- im1 = std::dynamic_pointer_cast<IsMotion>(prc1);
+ im1 = std::dynamic_pointer_cast<MotionProvider>(prc1);
- ParamsProcessorIsMotionDummyPtr prc2_params = std::make_shared<ParamsProcessorIsMotionDummy>();
+ ParamsMotionProviderDummyPtr prc2_params = std::make_shared<ParamsMotionProviderDummy>();
prc2_params->time_tolerance = dt/2;
prc2_params->state_structure = "PO";
prc2_params->state_getter = true;
prc2_params->state_priority = 1;
- prc2 = problem->installProcessor("ProcessorIsMotionDummy",
+ prc2 = problem->installProcessor("MotionProviderDummy",
"getter processor",
sen,
prc2_params);
- im2 = std::dynamic_pointer_cast<IsMotion>(prc2);
+ im2 = std::dynamic_pointer_cast<MotionProvider>(prc2);
- ParamsProcessorIsMotionDummyPtr prc3_params = std::make_shared<ParamsProcessorIsMotionDummy>();
+ ParamsMotionProviderDummyPtr prc3_params = std::make_shared<ParamsMotionProviderDummy>();
prc3_params->time_tolerance = dt/2;
prc3_params->state_structure = "POV";
prc3_params->state_getter = true;
prc3_params->state_priority = 1;
- prc3 = problem->installProcessor("ProcessorIsMotionDummy",
+ prc3 = problem->installProcessor("MotionProviderDummy",
"getter processor low priority",
sen,
prc3_params);
- im3 = std::dynamic_pointer_cast<IsMotion>(prc3);
+ im3 = std::dynamic_pointer_cast<MotionProvider>(prc3);
}
};
@@ -103,12 +104,12 @@ class IsMotionTest : public testing::Test
* - Problem::getState/getOdometry (state_getter, state_priority)
*/
-TEST_F(IsMotionTest, install)
+TEST_F(MotionProviderTest, install)
{
- // All isMotion() = true
- ASSERT_TRUE (prc1->isMotion());
- ASSERT_TRUE (prc2->isMotion());
- ASSERT_TRUE (prc3->isMotion());
+ // All MotionProvider() = true
+ ASSERT_TRUE (prc1->isMotionProvider());
+ ASSERT_TRUE (prc2->isMotionProvider());
+ ASSERT_TRUE (prc3->isMotionProvider());
ASSERT_TRUE (im1 != nullptr);
ASSERT_TRUE (im2 != nullptr);
ASSERT_TRUE (im3 != nullptr);
@@ -123,13 +124,13 @@ TEST_F(IsMotionTest, install)
ASSERT_EQ(im2->getStateStructure(), "PO");
ASSERT_EQ(im3->getStateStructure(), "POV");
- // Only 2 and 3 in problem::processor_is_motion_map_
- ASSERT_EQ(problem->getProcessorIsMotionMap().size(), 2);
- ASSERT_EQ(problem->getProcessorIsMotionMap().begin()->second, im2);
- ASSERT_EQ(std::next(problem->getProcessorIsMotionMap().begin())->second, im3);
+ // Only 2 and 3 in problem::motion_provider_map_
+ ASSERT_EQ(problem->getMotionProviderMap().size(), 2);
+ ASSERT_EQ(problem->getMotionProviderMap().begin()->second, im2);
+ ASSERT_EQ(std::next(problem->getMotionProviderMap().begin())->second, im3);
}
-TEST_F(IsMotionTest, odometry)
+TEST_F(MotionProviderTest, odometry)
{
VectorComposite odom_p("P"); // missing P key
odom_p['P'] = Vector2d::Zero();
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index e39eaf59ab679dea7c5d6b333e1be69dbea5f6c7..e5b0fa3872c25fbaa1741df9a84646588d3fdc04 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -85,7 +85,7 @@ TEST(Problem, Processor)
ProblemPtr P = Problem::create("PO", 3);
// check motion processor is null
- ASSERT_FALSE(P->getProcessorIsMotion());
+ ASSERT_FALSE(P->getMotionProvider());
// add a motion sensor and processor
auto Sm = SensorBase::emplace<SensorOdom3d>(P->getHardware(), (Eigen::Vector7d()<<0,0,0, 0,0,0,1).finished(), ParamsSensorOdom3d());
@@ -94,7 +94,7 @@ TEST(Problem, Processor)
auto Pm = ProcessorBase::emplace<ProcessorOdom3d>(Sm, std::make_shared<ParamsProcessorOdom3d>());
// check motion processor IS NOT by emplace
- ASSERT_EQ(P->getProcessorIsMotion(), Pm);
+ ASSERT_EQ(P->getMotionProvider(), Pm);
}
TEST(Problem, Installers)
@@ -109,16 +109,16 @@ TEST(Problem, Installers)
auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", "odometer");
// check motion processor IS NOT set
- ASSERT_FALSE(P->getProcessorIsMotion());
+ ASSERT_FALSE(P->getMotionProvider());
// install processor motion
ProcessorBasePtr pm = P->installProcessor("ProcessorOdom3d", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3d.yaml");
// check motion processor is set
- ASSERT_TRUE(P->getProcessorIsMotion() != nullptr);
+ ASSERT_TRUE(P->getMotionProvider() != nullptr);
// check motion processor is correct
- ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getProcessorIsMotion()), pm);
+ ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getMotionProvider()), pm);
}
TEST(Problem, SetOrigin_PO_2d)
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index c2111b31aea173b2e5efa3433ce2cf927d5eeadc..52aa50d70997a4d34d1d5d0ce652b34ecf9008cf 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -44,7 +44,7 @@
using namespace wolf;
using namespace Eigen;
-TEST(ProcessorBase, IsMotion)
+TEST(ProcessorBase, MotionProvider)
{
using namespace wolf;
using std::shared_ptr;
@@ -80,8 +80,8 @@ TEST(ProcessorBase, IsMotion)
sens_odo,
proc_odo_params);
- ASSERT_FALSE(proc_trk->isMotion());
- ASSERT_TRUE (proc_odo->isMotion());
+ ASSERT_FALSE(proc_trk->isMotionProvider());
+ ASSERT_TRUE (proc_odo->isMotionProvider());
}