new installProcessor for tests

include/core/problem/problem.h

@@ -168,6 +168,21 @@ class Problem : public std::enable_shared_from_this<Problem>
                                           const std::string& _corresponding_sensor_name,
                                           const std::string& _params_yaml_filename,
                                           const std::vector<std::string>& _folders_schema);
+        
+        /** \brief Factory method to install (create, and add to sensor) processors only from its properties
+         *
+         * This method creates a Processor, and adds it to the specified sensor's list of processors
+         *
+         * This method is a helper wrapper around the version accepting a sensor pointer instead of a sensor name.
+         * \param _prc_type type of processor
+         * \param _corresponding_sensor corresponding sensor pointer, used to bind the processor to the particular instance of the sensor
+         * \param _params_yaml_filename name of formatted yaml file defining the processor parameters.
+         * \param _folders_schema a vector of paths where the schema files (to validate the YAML file) are placed
+         */
+        ProcessorBasePtr installProcessor(const std::string& _prc_type,
+                                          SensorBasePtr& _corresponding_sensor,
+                                          const std::string& _params_yaml_filename,
+                                          const std::vector<std::string>& _folders_schema);
 
         /** \brief get a sensor pointer by its name
          * \param _sensor_name The sensor name, as it was installed with installSensor()

src/problem/problem.cpp

@@ -313,6 +313,17 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
     SensorBasePtr sen_ptr = findSensor(_corresponding_sensor_name);
     if (sen_ptr == nullptr)
         throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
+
+    return installProcessor(_prc_type, sen_ptr, _params_yaml_filename, _folders_schema);
+}
+
+ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
+                                          SensorBasePtr& _corresponding_sensor,
+                                          const std::string& _params_yaml_filename,
+                                          const std::vector<std::string>& _folders_schema)
+{
+    if (_corresponding_sensor == nullptr)
+        throw std::runtime_error("Cannot install processor: Null sensor pointer");
     if (not file_exists(_params_yaml_filename))
         throw std::runtime_error("Cannot install processor: parameters' YAML file does not exist: " + _params_yaml_filename);
     
@@ -331,8 +342,8 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type,
         }
 
         // add processor
-        prc_ptr->configure(sen_ptr);
-        prc_ptr->link(sen_ptr);
+        prc_ptr->configure(_corresponding_sensor);
+        prc_ptr->link(_corresponding_sensor);
     }
     return prc_ptr;
 }

test/gtest_problem.cpp

@@ -116,7 +116,7 @@ TEST(Problem, Installers)
 
     // install processor tracker (dummy installation under an Odometry sensor -- it's OK for this test)
     auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", 
-                                  S->getName(), 
+                                  S, 
                                   wolf_root + "/test/yaml/processor_tracker_feature_dummy.yaml", 
                                   {wolf_root});
 
@@ -125,7 +125,7 @@ TEST(Problem, Installers)
 
     // install processor motion
     ProcessorBasePtr pm = P->installProcessor("ProcessorOdom3d", 
-                                              S->getName(), 
+                                              S, 
                                               wolf_root + "/test/yaml/processor_odom_3d.yaml", 
                                               {wolf_root});
 
@@ -325,11 +325,11 @@ TEST(Problem, StateBlocks)
     ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd) 2);
 
     auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", 
-                                  Sm->getName(), 
+                                  Sm, 
                                   wolf_root + "/test/yaml/processor_tracker_feature_dummy.yaml", 
                                   {wolf_root});
     auto pm = P->installProcessor("ProcessorOdom3d",
-                                  Sm->getName(), 
+                                  Sm, 
                                   wolf_root + "/test/yaml/processor_odom_3d.yaml", 
                                   {wolf_root});
 
@@ -394,11 +394,11 @@ TEST(Problem, Covariances)
 
 
     auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", 
-                                  Sm->getName(), 
+                                  Sm, 
                                   wolf_root + "/test/yaml/processor_tracker_feature_dummy.yaml", 
                                   {wolf_root});
     auto pm = P->installProcessor("ProcessorOdom3d", 
-                                  St->getName(), 
+                                  St, 
                                   wolf_root + "/test/yaml/processor_odom_3d.yaml", 
                                   {wolf_root});