diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 70f66f6e5f39a7525bcf8d5cccbf762c4ca9f2c0..bd0a5a129c8f076d8d6f3842c1e753046daa4a79 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -50,28 +50,28 @@ namespace wolf
* - Examples of specific factories existing in Wolf are:
* \code
*
- * // SensorFactory
- * typedef Factory<SensorBase, // Type of objects to be created: SensorBasePtr
- * const std::string&, // Name of the sensor
- * const Eigen::VectorXd&, // Sensor extrinsics
- * const ParamsSensorBasePtr> // Sensor parameters
- * SensorFactory;
- *
- * // ProcessorFactory
- * typedef Factory<ProcessorBase, // Type of object created: ProcessorBasePtr
- * const std::string&, // Name of the processor
- * const ParamsProcessorBasePtr> // Parameters for creating the processor
- * ProcessorFactory;
+ * // FactorySensor
+ * typedef Factory<SensorBase, // Type of objects to be returned: SensorBasePtr
+ * const std::string&, // Type of the sensor: name of the derived sensor class
+ * const Eigen::VectorXd&, // Sensor extrinsics
+ * const ParamsSensorBasePtr> // Sensor parameters
+ * FactorySensor;
+ *
+ * // FactoryProcessor
+ * typedef Factory<ProcessorBase, // Type of object returned: ProcessorBasePtr
+ * const std::string&, // Type of the processor: name of the derived processor class
+ * const ParamsProcessorBasePtr> // Parameters for creating the processor
+ * FactoryProcessor;
*
* // AutoConfProcessorFactory
- * typedef Factory<ProcessorBase, // Type of object created: ProcessorBasePtr
- * const std::string&, // Name of the processor
- * const ParamsServer> // Parameters for creating the processor
- * AutoConfProcessorFactory;
+ * typedef Factory<ProcessorBase, // Type of object returned: ProcessorBasePtr
+ * const std::string&, // Type of the processor: name of the derived processor class
+ * const ParamsServer> // Parameters for creating the processor
+ * AutoConfProcessorFactory;
*
* // Landmarks from YAML
- * typedef Factory<LandmarkBase, // Type of node created: LandmarkBasePtr
- * const YAML::Node&> // YAML node with the lmk params
+ * typedef Factory<LandmarkBase, // Type of node created: LandmarkBasePtr
+ * const YAML::Node&> // YAML node with the lmk params
* LandmarkFactory;
* \endcode
*
@@ -86,7 +86,7 @@ namespace wolf
* > The specific type of landmark (e.g. LandmarkCorner2d, LandmarkAHP, LandmarkPolyline2d, etc) is indicated by a string that we call TYPE in this documentation.
*
* Specific object creation is invoked by the method ````create(TYPE, params ... )````, where
- * - the TYPE of object to create is identified with a string
+ * - the TYPE of object to create is identified with a string. This string matches the name of the derived class.
* - the params may be provided in different forms -- see TypeInput.
*
* The methods to create specific objects are called __creators__.
@@ -102,9 +102,11 @@ namespace wolf
*
* #### Define correct TYPE names
* We use a std::string with literally the same text as the derived class name, e.g.:
- * - ParamsSensorCamera -> ````"ParamsSensorCamera"````
- * - ParamsSensorLaser2d -> ````"ParamsSensorLaser2d"````
- * - LandmarkPolyline2d -> ````"LandmarkPolyline2d"````
+ * - ParamsSensorCamera -> ````"ParamsSensorCamera"````
+ * - SensorCamera -> ````"SensorCamera"````
+ * - ParamsSensorLaser2d -> ````"ParamsSensorLaser2d"````
+ * - SensorLaser2d -> ````"SensorLaser2d"````
+ * - LandmarkPolyline2d -> ````"LandmarkPolyline2d"````
* - etc.
*
* #### Access the factory
@@ -112,12 +114,18 @@ namespace wolf
* The first thing to know is that we have defined typedefs for the templates that we are using. For example:
*
* \code
- * typedef Factory<ParamsSensorBase, std::string> FactoryParamsSensor;
- * typedef Factory<ParamsProcessorBase, std::string> FactoryParamsProcessor;
- * typedef Factory<LandmarkBase, YAML::Node> FactoryLandmark;
+ * typedef Factory<ParamsSensorBase, std::string> FactoryParamsSensor;
+ * typedef Factory<ParamsProcessorBase, std::string> FactoryParamsProcessor;
+ * typedef Factory<LandmarkBase, YAML::Node> FactoryLandmark;
+ * typedef Factory<SensorBase,
+ * const std::string&,
+ * const Eigen::VectorXd&,
+ * const ParamsSensorBasePtr> FactorySensor;
+ *
* \endcode
*
- * Second to know, the Factory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
+ * Second to know, the Factory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>:
+ * it can only exist once in your application.
* To access it, use the static method get(),
*
* \code
@@ -150,7 +158,7 @@ namespace wolf
*
* \code
* static ParamsSensorBasePtr create(const std::string& _intrinsics_dot_yaml)
- * static LandmarkBasePtr create(const YAML::Node& _lmk_yaml_node)
+ * static LandmarkBasePtr create(const YAML::Node& _lmk_yaml_node)
* \endcode
*
* See further down for an implementation example.
@@ -164,7 +172,7 @@ namespace wolf
* that knows how to create your specific object, e.g.:
*
* \code
- * FactoryLandmark::get().registerCreator("POLYLINE 2d", LandmarkPolyline2d::create);
+ * FactoryLandmark::get().registerCreator("LandmarkPolyline2d", LandmarkPolyline2d::create);
* \endcode
*
* #### Automatic registration
@@ -172,7 +180,7 @@ namespace wolf
* For example, in sensor_camera_yaml.cpp we find the line:
*
* \code
- * const bool registered_camera_intr = FactoryParamsSensor::get().registerCreator("CAMERA", createParamsSensorCamera);
+ * const bool registered_camera_intr = FactoryParamsSensor::get().registerCreator("ParamsSensorCamera", createParamsSensorCamera);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the ParamsSensorCamera class).
@@ -183,7 +191,7 @@ namespace wolf
* The method unregisterCreator() unregisters the ObjectXxx::create() method. It only needs to be passed the string of the object type.
*
* \code
- * Factory<MyTypeBase, MyTypeInput>::get().unregisterCreator("CAMERA");
+ * Factory<MyTypeBase, MyTypeInput>::get().unregisterCreator("ParamsSensorCamera");
* \endcode
*
* #### Create objects using the factory
@@ -193,13 +201,13 @@ namespace wolf
* To create e.g. a LandmarkPolyline2d from a YAML node you type:
*
* \code
- * LandmarkBasePtr lmk_ptr = Factory<LandmarkBasePtr, YAML::Node>::get().create("POLYLINE 2d", lmk_yaml_node);
+ * LandmarkBasePtr lmk_ptr = Factory<LandmarkBasePtr, YAML::Node>::get().create("LandmarkPolyline2d", lmk_yaml_node);
* \endcode
*
* or even better, make use of the convenient typedefs:
*
* \code
- * LandmarkBasePtr lmk_ptr = FactoryLandmark::get().create("POLYLINE 2d", lmk_yaml_node);
+ * LandmarkBasePtr lmk_ptr = FactoryLandmark::get().create("LandmarkPolyline2d", lmk_yaml_node);
* \endcode
*
* ### Examples
@@ -224,7 +232,7 @@ namespace wolf
* }
*
* // Create a new landmark
- * LandmarkBasePtr lmk_ptr = new LandmarkPolyline2d(points, first_defined, last_defined, first_id);
+ * LandmarkBasePtr lmk_ptr = std::make_shared<LandmarkPolyline2d>(points, first_defined, last_defined, first_id);
* lmk_ptr->setId(id);
*
* return lmk_ptr;
@@ -239,7 +247,7 @@ namespace wolf
* // Register landmark creator (put the register code inside an unnamed namespace):
* namespace
* {
- * const bool registered_lmk_polyline_2d = FactoryLandmark::get().registerCreator("POLYLINE 2d", LandmarkPolyline2d::create);
+ * const bool registered_lmk_polyline_2d = FactoryLandmark::get().registerCreator("LandmarkPolyline2d", LandmarkPolyline2d::create);
* }
*
* \endcode