diff --git a/CMakeLists.txt b/CMakeLists.txt
index bb7f032125ec1c5d926b19e94928ee5e085aafa2..4aa56e351ef94fb74f64eb72a2e126eb29c53ac2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -286,9 +286,6 @@ SET(HDRS_YAML
include/core/yaml/parser_yaml.hpp
include/core/yaml/yaml_conversion.h
)
-SET(HDRS_DUMMY
- test/dummy/factor_feature_dummy.h
- )
#SOURCES
SET(SRCS_PROBLEM
src/problem/problem.cpp
@@ -513,8 +510,6 @@ INSTALL(FILES ${HDRS_SERIALIZATION}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/serialization)
INSTALL(FILES ${HDRS_YAML}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
-INSTALL(FILES ${HDRS_DUMMY}
- DESTINATION include/iri-algorithms/wolf/plugin_core/core/dummy)
FILE(WRITE ${PROJECT_NAME}.found "")
INSTALL(FILES ${PROJECT_NAME}.found
diff --git a/hello_wolf/hello_wolf_autoconf.cpp b/hello_wolf/hello_wolf_autoconf.cpp
index 3b353bde24833278c6972dd1dc68f323e3ebede0..502c38e2ac48ff2539ab95f8ca21c1b674973b1f 100644
--- a/hello_wolf/hello_wolf_autoconf.cpp
+++ b/hello_wolf/hello_wolf_autoconf.cpp
@@ -107,9 +107,9 @@ int main()
std::string file = std::string(_WOLF_ROOT_DIR) + "/hello_wolf/hello_wolf_config.yaml";
// parse file into params server: each param will be retrievable from this params server:
- parserYAML parser = parserYAML(file);
+ ParserYAML parser = ParserYAML(file);
parser.parse();
- paramsServer server = paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
+ ParamsServer server = ParamsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
// Wolf problem: automatically build the left branch of the wolf tree from the contents of the params server:
ProblemPtr problem = Problem::autoSetup(server);
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index c379db030ca56f907560bcbb695e297cd77e7cc9..54bbb3aec498cacc736321f77abc127a24414106 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -116,7 +116,7 @@ ProcessorBasePtr ProcessorRangeBearing::create(const std::string& _unique_name,
}
ProcessorBasePtr ProcessorRangeBearing::createAutoConf(const std::string& _unique_name,
- const paramsServer& _server,
+ const ParamsServer& _server,
const SensorBasePtr _sensor_ptr)
{
SensorRangeBearingPtr sensor_rb = std::static_pointer_cast<SensorRangeBearing>(_sensor_ptr);
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 6cfdd7d8943f13b4fb757c071582d99e9b6c3ea5..2bc4767c14f0c9619534d3bd6f6ae1dc5d4f506b 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -26,7 +26,7 @@ struct ProcessorParamsRangeBearing : public ProcessorParamsBase
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- ProcessorParamsRangeBearing(std::string _unique_name, const paramsServer& _server) :
+ ProcessorParamsRangeBearing(std::string _unique_name, const ParamsServer& _server) :
ProcessorParamsBase(_unique_name, _server)
{
//
@@ -54,7 +54,7 @@ class ProcessorRangeBearing : public ProcessorBase
const ProcessorParamsBasePtr _params,
const SensorBasePtr sensor_ptr = nullptr);
static ProcessorBasePtr createAutoConf(const std::string& _unique_name,
- const paramsServer& _server,
+ const ParamsServer& _server,
const SensorBasePtr _sensor_ptr = nullptr);
protected:
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 878f08078fc69a5e20c27c99d2b17744a39db096..964b909338dfd1062012c73e1aaf0a7b33999295 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -43,7 +43,7 @@ SensorBasePtr SensorRangeBearing::create(const std::string& _unique_name, //
}
SensorBasePtr SensorRangeBearing::createAutoConf(const std::string& _unique_name, //
- const paramsServer& _server)
+ const ParamsServer& _server)
{
IntrinsicsRangeBearing intr(_unique_name, _server);
Eigen::Vector2s noise_std(intr.noise_range_metres_std, intr.noise_bearing_degrees_std);
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 0a46b466e5470fcd89cd6874bdfb73dab8f5fae6..161818df65a56f5b2df02d9a66327a71e80a63a0 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -23,7 +23,7 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- IntrinsicsRangeBearing(std::string _unique_name, const paramsServer& _server):
+ IntrinsicsRangeBearing(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise range metres std", "0.05");
@@ -50,7 +50,7 @@ class SensorRangeBearing : public SensorBase
const Eigen::VectorXs& _extrinsics, //
const IntrinsicsBasePtr _intrinsics);
static SensorBasePtr createAutoConf(const std::string& _unique_name, //
- const paramsServer& _server);
+ const ParamsServer& _server);
};
} /* namespace wolf */
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index 413ecce13ebd2bb179134e255fe1d1af228efe13..a31f5347c2ebc0ca9ce349111d0207d1c5542458 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -46,7 +46,7 @@ class CeresManager : public SolverManager
~CeresManager();
- static SolverManagerPtr create(const ProblemPtr& wolf_problem, const paramsServer& _server);
+ static SolverManagerPtr create(const ProblemPtr& wolf_problem, const ParamsServer& _server);
ceres::Solver::Summary getSummary();
diff --git a/include/core/common/params_base.h b/include/core/common/params_base.h
index 66034e29fd3e91ad28c2a08fea6a93eb0557bd90..ac9175668b12497d09017387fe7e9c1f1240b13e 100644
--- a/include/core/common/params_base.h
+++ b/include/core/common/params_base.h
@@ -7,7 +7,7 @@ namespace wolf {
struct ParamsBase
{
ParamsBase() = default;
- ParamsBase(std::string _unique_name, const paramsServer&)
+ ParamsBase(std::string _unique_name, const ParamsServer&)
{
//
}
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 6aca54c5d7109822c26aede36da25ecbe58e5491..d1aaba40fa7ff48ee93c83b625f62a80ba52d382 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -63,7 +63,7 @@ class Problem : public std::enable_shared_from_this<Problem>
public:
static ProblemPtr create(const std::string& _frame_structure, SizeEigen _dim); // USE THIS AS A CONSTRUCTOR!
- static ProblemPtr autoSetup(paramsServer &_server);
+ static ProblemPtr autoSetup(ParamsServer &_server);
virtual ~Problem();
// Properties -----------------------------------------
@@ -101,7 +101,7 @@ class Problem : public std::enable_shared_from_this<Problem>
*/
SensorBasePtr installSensor(const std::string& _sen_type, //
const std::string& _unique_sensor_name,
- const paramsServer& _server);
+ const ParamsServer& _server);
/** \brief get a sensor pointer by its name
* \param _sensor_name The sensor name, as it was installed with installSensor()
*/
@@ -141,7 +141,7 @@ class Problem : public std::enable_shared_from_this<Problem>
ProcessorBasePtr installProcessor(const std::string& _prc_type, //
const std::string& _unique_processor_name, //
const std::string& _corresponding_sensor_name, //
- const paramsServer& _server);
+ const ParamsServer& _server);
protected:
/** \brief Set the processor motion
*
diff --git a/include/core/processor/autoconf_processor_factory.h b/include/core/processor/autoconf_processor_factory.h
index 0fc1b5de4ac4722bf204959483ab35cc392a6ac5..051b8d8578544f0fb4c195e5e591064b6b6f116f 100644
--- a/include/core/processor/autoconf_processor_factory.h
+++ b/include/core/processor/autoconf_processor_factory.h
@@ -167,7 +167,7 @@ namespace wolf
typedef Factory<ProcessorBase,
const std::string&,
- const paramsServer&,
+ const ParamsServer&,
const SensorBasePtr> AutoConfProcessorFactory;
template<>
inline std::string AutoConfProcessorFactory::getClass()
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index b2027b3d3b07d41af584043e69ddf7abd9ecfa80..3e555eb2ee5dbb569f1fa613e4330d4803db0272 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -176,7 +176,7 @@ struct ProcessorParamsBase : public ParamsBase
{
//
}
- ProcessorParamsBase(std::string _unique_name, const paramsServer& _server):
+ ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
ParamsBase(_unique_name, _server)
{
voting_active = _server.getParam<bool>(_unique_name + "/voting_active", "false");
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 78ef6ca50c80e653f7143ebe72e310b859d7a18f..831fec13696365facbee70749bc197d5d7c3f3cd 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -20,7 +20,7 @@ struct ProcessorParamsDiffDrive : public ProcessorParamsMotion
{
Scalar unmeasured_perturbation_std = 0.0001;
ProcessorParamsDiffDrive() = default;
- ProcessorParamsDiffDrive(std::string _unique_name, const paramsServer& _server):
+ ProcessorParamsDiffDrive(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsMotion(_unique_name, _server)
{
unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std", "0.0001");
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 15f0ca9004ffc8ca36efadf233eb9a0bfbca384d..c7fc1771fa68882ac8f05d8d139dec0c3cbbfcef 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -30,7 +30,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
Scalar angle_turned = 0.5;
Scalar unmeasured_perturbation_std = 1e-4;
ProcessorParamsMotion() = default;
- ProcessorParamsMotion(std::string _unique_name, const paramsServer& _server):
+ ProcessorParamsMotion(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsBase(_unique_name, _server)
{
max_time_span = _server.getParam<Scalar>(_unique_name + "/max_time_span", "0.5");
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 8e6c9ee6b2a8debaa727ef8128c47e8c20b2d3c4..7c7c1cd0a431d4c4c0053598fa9567854cc09742 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -23,7 +23,7 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
{
Scalar cov_det = 1.0; // 1 rad^2
ProcessorParamsOdom2D() = default;
- ProcessorParamsOdom2D(std::string _unique_name, const wolf::paramsServer & _server) :
+ ProcessorParamsOdom2D(std::string _unique_name, const wolf::ParamsServer & _server) :
ProcessorParamsMotion(_unique_name, _server)
{
cov_det = _server.getParam<Scalar>(_unique_name + "/cov_det", "1.0");
@@ -92,7 +92,7 @@ class ProcessorOdom2D : public ProcessorMotion
// Factory method
public:
static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr sensor_ptr = nullptr);
- static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
+ static ProcessorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr = nullptr);
};
inline Eigen::VectorXs ProcessorOdom2D::deltaZero() const
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index 1c70a3b3385c82116609fa47d3897ca82d89f800..759912f27680d5947352d599a889985b0e81d2b3 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -22,7 +22,7 @@ WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom3D);
struct ProcessorParamsOdom3D : public ProcessorParamsMotion
{
ProcessorParamsOdom3D() = default;
- ProcessorParamsOdom3D(std::string _unique_name, const paramsServer& _server):
+ ProcessorParamsOdom3D(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsMotion(_unique_name, _server)
{
//
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index bab37b3a271f53731e8a2777112f115f10497ed8..3915ba33f8b9899deb99b6436b66a5b5c9ef9f4f 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -21,7 +21,7 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
int max_new_features; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
ProcessorParamsTracker() = default;
- ProcessorParamsTracker(std::string _unique_name, const wolf::paramsServer & _server):
+ ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsBase(_unique_name, _server)
{
min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe", "1");
diff --git a/include/core/sensor/autoconf_sensor_factory.h b/include/core/sensor/autoconf_sensor_factory.h
index e52366e334187e9f318bb9a514c1e7fdde6b3b21..2d36307874fddbe2836ea1f905719007934cf679 100644
--- a/include/core/sensor/autoconf_sensor_factory.h
+++ b/include/core/sensor/autoconf_sensor_factory.h
@@ -210,7 +210,7 @@ namespace wolf
typedef Factory<SensorBase,
const std::string&,
- const paramsServer&> AutoConfSensorFactory;
+ const ParamsServer&> AutoConfSensorFactory;
template<>
inline std::string AutoConfSensorFactory::getClass()
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 114be0e4d3342ed4936be3d0d9a6938e0735f898..e6737438050dba3f7bff3b51130937572cc5ef23 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -38,7 +38,7 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- IntrinsicsDiffDrive(std::string _unique_name, const paramsServer& _server):
+ IntrinsicsDiffDrive(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index 94bbd03d3778221d1a7a2a0d51935f993e9ddbb7..efe8d7e4daa8705ebe2e9ecb07be0f1d4a377d65 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -19,7 +19,7 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- IntrinsicsOdom2D(std::string _unique_name, const paramsServer& _server):
+ IntrinsicsOdom2D(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
@@ -63,7 +63,7 @@ class SensorOdom2D : public SensorBase
public:
static SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXs& _extrinsics_pq, const IntrinsicsBasePtr _intrinsics);
- static SensorBasePtr createAutoConf(const std::string& _unique_name, const paramsServer& _server);
+ static SensorBasePtr createAutoConf(const std::string& _unique_name, const ParamsServer& _server);
};
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index b5ec6717fe701acf3c8b4ca8c49b3bd81d892b7c..2fab5f065909452622a8760e5f9a976c63327e89 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -27,7 +27,7 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- IntrinsicsOdom3D(std::string _unique_name, const paramsServer& _server):
+ IntrinsicsOdom3D(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
diff --git a/include/core/solver/solver_factory.h b/include/core/solver/solver_factory.h
index 36a551b668a1f4f1c595d98ea61b1534f54c670e..5205ad5c9e1ff18d545dcd43555ecb47b4d780f8 100644
--- a/include/core/solver/solver_factory.h
+++ b/include/core/solver/solver_factory.h
@@ -211,7 +211,7 @@ namespace wolf
typedef Factory<SolverManager,
const ProblemPtr&,
- const paramsServer&> SolverFactory;
+ const ParamsServer&> SolverFactory;
template<>
inline std::string SolverFactory::getClass()
diff --git a/include/core/utils/params_server.hpp b/include/core/utils/params_server.hpp
index 4a58b290b31d38b29cea102431e2335c2597f1ee..94e8f1a8468a89749685ad471ee9b234e392f84d 100644
--- a/include/core/utils/params_server.hpp
+++ b/include/core/utils/params_server.hpp
@@ -9,8 +9,7 @@
#include <map>
namespace wolf{
-
-class paramsServer{
+class ParamsServer{
struct ParamsInitSensor{
std::string _type;
std::string _name;
@@ -25,16 +24,13 @@ class paramsServer{
std::map<std::string, std::string> _params;
std::map<std::string,ParamsInitSensor> _paramsSens;
std::map<std::string,ParamsInitProcessor> _paramsProc;
-
- public:
-
- paramsServer(){
+public:
+ ParamsServer(){
_params = std::map<std::string, std::string>();
_paramsSens = std::map<std::string,ParamsInitSensor>();
_paramsProc = std::map<std::string,ParamsInitProcessor>();
}
-
- paramsServer(std::map<std::string, std::string> params,
+ ParamsServer(std::map<std::string, std::string> params,
std::vector<std::array<std::string,2>> sensors,
std::vector<std::array<std::string,3>> procs){
_params = params;
@@ -49,15 +45,7 @@ class paramsServer{
_paramsProc.insert(std::pair<std::string,ParamsInitProcessor>(it.at(1), pProcs));
}
}
-
-// paramsServer(std::string _file)
-// {
-// parserYAML parser = parserYAML(_file);
-// parser.parse();
-// paramsServer(parser.getParams(), parser.sensorsSerialization(), parser.processorsSerialization());
-// }
-
- ~paramsServer(){
+ ~ParamsServer(){
//
}
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index b81813b07a8370e0a42ffcb8a25ce04485927466..3af5c1630da3e1bbeba9ec0ec4c6cc8ab5c63cfb 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/include/core/yaml/parser_yaml.hpp
@@ -78,7 +78,7 @@ namespace {
return "[" + accumulated + "]";
}
}
-class parserYAML {
+class ParserYAML {
struct ParamsInitSensor{
std::string _type;
std::string _name;
@@ -102,7 +102,7 @@ class parserYAML {
YAML::Node problem;
std::string generatePath(std::string);
public:
- parserYAML(){
+ ParserYAML(){
_params = std::map<std::string, std::string>();
_active_name = "";
_paramsSens = std::vector<ParamsInitSensor>();
@@ -113,7 +113,7 @@ public:
_relative_path = false;
_callbacks = std::vector<std::array<std::string, 3>>();
}
- parserYAML(std::string file){
+ ParserYAML(std::string file){
_params = std::map<std::string, std::string>();
_active_name = "";
_paramsSens = std::vector<ParamsInitSensor>();
@@ -124,7 +124,7 @@ public:
_relative_path = false;
_callbacks = std::vector<std::array<std::string, 3>>();
}
- parserYAML(std::string file, std::string path_root){
+ ParserYAML(std::string file, std::string path_root){
_params = std::map<std::string, std::string>();
_active_name = "";
_paramsSens = std::vector<ParamsInitSensor>();
@@ -141,7 +141,7 @@ public:
}
_callbacks = std::vector<std::array<std::string, 3>>();
}
- ~parserYAML(){
+ ~ParserYAML(){
//
}
void walkTree(std::string file);
@@ -160,7 +160,7 @@ public:
void parse();
std::map<std::string, std::string> fetchAsMap(YAML::Node);
};
-std::string parserYAML::generatePath(std::string path){
+std::string ParserYAML::generatePath(std::string path){
std::regex r("^/.*");
if(std::regex_match(path, r)){
std::cout << "Generating " + path << std::endl;
@@ -170,25 +170,25 @@ std::string parserYAML::generatePath(std::string path){
return _path_root + path;
}
}
-std::string parserYAML::tagsToString(std::vector<std::string> &tags){
+std::string ParserYAML::tagsToString(std::vector<std::string> &tags){
std::string hdr = "";
for(auto it : tags){
hdr = hdr + "/" + it;
}
return hdr;
}
-void parserYAML::walkTree(std::string file){
+void ParserYAML::walkTree(std::string file){
YAML::Node n;
n = YAML::LoadFile(generatePath(file));
std::vector<std::string> hdrs = std::vector<std::string>();
walkTreeR(n, hdrs, "");
}
-void parserYAML::walkTree(std::string file, std::vector<std::string>& tags){
+void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags){
YAML::Node n;
n = YAML::LoadFile(generatePath(file));
walkTreeR(n, tags, "");
}
-void parserYAML::walkTree(std::string file, std::vector<std::string>& tags, std::string hdr){
+void ParserYAML::walkTree(std::string file, std::vector<std::string>& tags, std::string hdr){
YAML::Node n;
n = YAML::LoadFile(generatePath(file));
walkTreeR(n, tags, hdr);
@@ -198,7 +198,7 @@ void parserYAML::walkTree(std::string file, std::vector<std::string>& tags, std:
* @param tags represents the path from the root of the YAML tree to the current node
* @param hdr is the name of the current YAML node
*/
-void parserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::string hdr){
+void ParserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::string hdr){
switch (n.Type()) {
case YAML::NodeType::Scalar : {
std::regex r("^@.*");
@@ -279,13 +279,13 @@ void parserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::st
break;
}
}
-void parserYAML::updateActiveName(std::string tag){
+void ParserYAML::updateActiveName(std::string tag){
this->_active_name = tag;
}
/** @Brief Parse the sensors, processors, callbacks and files elements of the YAML file. We assume that these elements
are defined at the top level of the YAML file.
* @param file is the path to the YAML file */
-void parserYAML::parseFirstLevel(std::string file){
+void ParserYAML::parseFirstLevel(std::string file){
YAML::Node n;
n = YAML::LoadFile(generatePath(file));
@@ -309,32 +309,32 @@ void parserYAML::parseFirstLevel(std::string file){
}
_params.insert(std::pair<std::string,std::string>("files", wolf::converter<std::string>::convert(_files)));
}
-std::vector<std::array<std::string, 2>> parserYAML::sensorsSerialization(){
+std::vector<std::array<std::string, 2>> ParserYAML::sensorsSerialization(){
std::vector<std::array<std::string, 2>> aux = std::vector<std::array<std::string, 2>>();
for(auto it : this->_paramsSens)
aux.push_back({{it._type,it._name}});
return aux;
}
-std::vector<std::array<std::string, 3>> parserYAML::processorsSerialization(){
+std::vector<std::array<std::string, 3>> ParserYAML::processorsSerialization(){
std::vector<std::array<std::string, 3>> aux = std::vector<std::array<std::string, 3>>();
for(auto it : this->_paramsProc)
aux.push_back({{it._type,it._name,it._name_assoc_sensor}});
return aux;
}
-std::vector<std::string> parserYAML::getFiles(){
+std::vector<std::string> ParserYAML::getFiles(){
return this->_files;
}
-std::vector<std::array<std::string, 3>> parserYAML::getCallbacks(){
+std::vector<std::array<std::string, 3>> ParserYAML::getCallbacks(){
return this->_callbacks;
}
-std::vector<std::array<std::string, 2>> parserYAML::getProblem(){
+std::vector<std::array<std::string, 2>> ParserYAML::getProblem(){
return std::vector<std::array<std::string, 2>>();
}
-std::map<std::string,std::string> parserYAML::getParams(){
+std::map<std::string,std::string> ParserYAML::getParams(){
std::map<std::string,std::string> rtn = _params;
return rtn;
}
-void parserYAML::parse(){
+void ParserYAML::parse(){
this->parseFirstLevel(this->_file);
if(this->problem.Type() != YAML::NodeType::Undefined){
@@ -376,7 +376,7 @@ std::string fetchMapEntry(YAML::Node n){
* @param n the node representing a map
* @return std::map<std::string, std::string> populated with the key,value pairs in n
*/
-std::map<std::string, std::string> parserYAML::fetchAsMap(YAML::Node n){
+std::map<std::string, std::string> ParserYAML::fetchAsMap(YAML::Node n){
assert(n.Type() == YAML::NodeType::Map && "trying to fetch as Map a non-Map node");
auto m = std::map<std::string, std::string>();
for(const auto& kv : n){
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 681f3d59ee5e3f674d277182790d9247ac41aa4c..1528c15e708d61f13ed8a5d1084207287722ba6b 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -40,7 +40,7 @@ CeresManager::~CeresManager()
removeFactor(fac_2_residual_idx_.begin()->first);
}
-SolverManagerPtr CeresManager::create(const ProblemPtr &wolf_problem, const paramsServer &_server)
+SolverManagerPtr CeresManager::create(const ProblemPtr &wolf_problem, const ParamsServer &_server)
{
ceres::Solver::Options opt;
opt.max_num_iterations = _server.getParam<int>("max_num_iterations","1000");
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 0e59e89a53e1c85bea2bb0a370bd30b20fcdc0c4..eab55cc02cf4d12045fddf7813c4d7cdf87f35b4 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -74,7 +74,7 @@ ProblemPtr Problem::create(const std::string& _frame_structure, SizeEigen _dim)
return p->shared_from_this();
}
-ProblemPtr Problem::autoSetup(paramsServer &_server)
+ProblemPtr Problem::autoSetup(ParamsServer &_server)
{
// Problem structure and dimension
std::string frame_structure = _server.getParam<std::string> ("problem/frame structure", "PO");
@@ -158,7 +158,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
const std::string& _unique_sensor_name, //
- const paramsServer& _server)
+ const ParamsServer& _server)
{
SensorBasePtr sen_ptr = AutoConfSensorFactory::get().create(uppercase(_sen_type), _unique_sensor_name, _server);
sen_ptr->link(getHardware());
@@ -213,7 +213,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
const std::string& _unique_processor_name, //
const std::string& _corresponding_sensor_name, //
- const paramsServer& _server)
+ const ParamsServer& _server)
{
SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index 38dccacd9bf4d2d1512de442f79734b30d4c02a6..48a2747789e943fc76a171c894c5802635bc0093 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -195,7 +195,7 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
return prc_ptr;
}
-ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const paramsServer& _server, const SensorBasePtr sensor_ptr)
+ProcessorBasePtr ProcessorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server, const SensorBasePtr sensor_ptr)
{
ProcessorOdom2DPtr prc_ptr;
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index f6b408c7ec9bb68544e5b5f24019bde710954c93..fd4427abec8211ddebf95b2172409692f807e72d 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -58,7 +58,7 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
return odo;
}
-SensorBasePtr SensorOdom2D::createAutoConf(const std::string& _unique_name, const paramsServer& _server)
+SensorBasePtr SensorOdom2D::createAutoConf(const std::string& _unique_name, const ParamsServer& _server)
{
// Eigen::VectorXs _extrinsics_po = Eigen::Vector3s(0,0,0);
Eigen::VectorXs _extrinsics_po = _server.getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pos", "[0,0,0]");
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 3621ce3017d8a362c999f9376908ab4e0445b910..217196b7e26542f39d60fbfb1f53f01214e20ff9 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -22,7 +22,7 @@ struct ProcessorParamsTrackerFeatureDummy : public ProcessorParamsTrackerFeature
unsigned int n_tracks_lost; ///< number of tracks lost each time track is called (the first ones)
ProcessorParamsTrackerFeatureDummy() = default;
- ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::paramsServer & _server):
+ ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerFeature(_unique_name, _server)
{
n_tracks_lost = _server.getParam<unsigned int>(_unique_name + "/n_tracks_lost", "1");
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 7dce7d14e23e77df062ff2774630767d1d2d6b48..f79b2da401c1f925d7f8629f1e4b9f1cc4c14b3b 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -20,7 +20,7 @@ struct ProcessorParamsTrackerLandmarkDummy : public ProcessorParamsTrackerLandma
unsigned int n_landmarks_lost; ///< number of landmarks lost each time findLandmarks is called (the last ones)
ProcessorParamsTrackerLandmarkDummy() = default;
- ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::paramsServer & _server):
+ ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerLandmark(_unique_name, _server)
{
n_landmarks_lost = _server.getParam<unsigned int>(_unique_name + "/n_landmarks_lost", "1");
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index dc5f5a5aa40962abba31b3e21ccdaa3aeb2d928a..00c6c099f6542e6e1f08dc9e2e451d8d2d055e81 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -9,9 +9,9 @@ using namespace wolf;
std::string wolf_root = _WOLF_ROOT_DIR;
-parserYAML parse(string _file, string _path_root)
+ParserYAML parse(string _file, string _path_root)
{
- parserYAML parser = parserYAML(_file, _path_root);
+ ParserYAML parser = ParserYAML(_file, _path_root);
parser.parse();
return parser;
}
@@ -20,7 +20,7 @@ TEST(ParamsServer, Default)
{
auto parser = parse("test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
- paramsServer server = paramsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
+ ParamsServer server = ParamsServer(params, parser.sensorsSerialization(), parser.processorsSerialization());
EXPECT_EQ(server.getParam<double>("should_not_exist", "2.6"), 2.6);
EXPECT_EQ(server.getParam<bool>("my_proc_test/voting_active", "true"), false);
EXPECT_NE(server.getParam<unsigned int>("my_proc_test/time_tolerance", "23"), 23);
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index d3ba3a40587e1e732cccf4d1a6c0d39e58a0207f..5102157d05185f93874e9ec0e89e9141feaf230e 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -8,9 +8,9 @@ using namespace wolf;
std::string wolf_root = _WOLF_ROOT_DIR;
-parserYAML parse(string _file, string _path_root)
+ParserYAML parse(string _file, string _path_root)
{
- parserYAML parser = parserYAML(_file, _path_root);
+ ParserYAML parser = ParserYAML(_file, _path_root);
parser.parse();
return parser;
}