Merge branch 'devel' into write-state-tracker-demo

include/core/utils/params_server.hpp

@@ -40,14 +40,19 @@ public:
         _params.insert(std::pair<std::string, std::string>(key, value));
     }
 
-//    template<typename T>
-//    T getParam(std::string key, std::string def_value) const {
-//        if(_params.find(key) != _params.end()){
-//            return converter<T>::convert(_params.find(key)->second);
-//        }else{
-//            return converter<T>::convert(def_value);
-//        }
-//    }
+    void addParams(std::map<std::string, std::string> params)
+    {
+        _params.insert(params.begin(), params.end());
+    }
+
+   // template<typename T>
+   // T getParam(std::string key, std::string def_value) const {
+   //     if(_params.find(key) != _params.end()){
+   //         return converter<T>::convert(_params.find(key)->second);
+   //     }else{
+   //         return converter<T>::convert(def_value);
+   //     }
+   // }
 
     template<typename T>
     T getParam(std::string key) const {

src/problem/problem.cpp

@@ -84,7 +84,8 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     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);
-    // cout << "PRINTING SERVER MAP" << endl;
+    //
+    //  cout << "PRINTING SERVER MAP" << endl;
     // _server.print();
     // cout << "-----------------------------------" << endl;
     WOLF_TRACE("Setting up problem with frame structure {" + frame_structure + "} and dimension " + std::to_string(dim) + "D");
@@ -149,10 +150,10 @@ ProblemPtr Problem::autoSetup(ParamsServer &_server)
     }
 
     // Prior
-    Eigen::VectorXs prior_state = _server.getParam<Eigen::VectorXs>("problem/prior/state");
-    Eigen::MatrixXs prior_cov   = _server.getParam<Eigen::MatrixXs>("problem/prior/cov");
-    Scalar prior_time_tolerance = _server.getParam<Scalar>("problem/prior/time_tolerance");
-    Scalar prior_ts             = _server.getParam<Scalar>("problem/prior/timestamp");
+    Eigen::VectorXs prior_state = _server.getParam<Eigen::VectorXs> ("problem/prior/state");
+    Eigen::MatrixXs prior_cov   = _server.getParam<Eigen::MatrixXs> ("problem/prior/cov");
+    Scalar prior_time_tolerance = _server.getParam<Scalar>          ("problem/prior/time_tolerance");
+    Scalar prior_ts             = _server.getParam<Scalar>          ("problem/prior/timestamp");
 
     WOLF_TRACE("prior timestamp:\n"     , prior_ts);
     WOLF_TRACE("prior state:\n"         , prior_state.transpose());

wolf_scripts/rename.sh

@@ -50,8 +50,13 @@ types=$(getTypes | sort | uniq)
 # done
 for target in $(find include/ src/ test/ -type f); do
     for ctype in $types; do
+        filename=$(echo $target | rev | cut -d '/' -f1 | cut -d '.' -f2 | rev)
+        snake2camel $filename
         oldtype=$ctype
         ctype=$(echo $ctype | sed -r "s/([^\ 0-9])([^\ 0-9]+)\ ?/\1\L\2/g")
-        sed -ri "s/(Capture|Feature|Processor|Landmark|Factor|Sensor)(.*)\"${oldtype}\"/\1\2\"\1${ctype}\"/" $target
+        # echo $target $oldtype $ctype
+        # sed -ri "s/(Capture|Feature|Processor|Landmark|Factor|Sensor)(.*)\"${oldtype}\"/\1\2\"\1${ctype}\"/" $target
+      sed -ri "s/(Capture|Feature|Processor|Landmark|Factor|Sensor)(.*)\"${oldtype}\"/\1\2\"\1${ctype}\"/" $target
+      sed -ri "s%\"${oldtype}\"%\"${new_camel}\"%" $target
     done
-done
\ No newline at end of file
+done