Rename FactorAutodiffDistance3d -> FactorDistance3d

CMakeLists.txt

@@ -216,12 +216,12 @@ SET(HDRS_CAPTURE
 SET(HDRS_FACTOR
   include/core/factor/factor_analytic.h
   include/core/factor/factor_autodiff.h
-  include/core/factor/factor_autodiff_distance_3d.h
   include/core/factor/factor_base.h
   include/core/factor/factor_block_absolute.h
   include/core/factor/factor_block_difference.h
   include/core/factor/factor_diff_drive.h
   include/core/factor/factor_odom_2d.h
+  include/core/factor/factor_distance_3d.h
   include/core/factor/factor_odom_2d_closeloop.h
   include/core/factor/factor_odom_2d_analytic.h
   include/core/factor/factor_odom_3d.h

include/core/factor/factor_autodiff_distance_3d.h → include/core/factor/factor_distance_3d.h

@@ -5,20 +5,20 @@
  *      \author: jsola
  */
 
-#ifndef FACTOR_AUTODIFF_DISTANCE_3d_H_
-#define FACTOR_AUTODIFF_DISTANCE_3d_H_
+#ifndef FACTOR_DISTANCE_3d_H_
+#define FACTOR_DISTANCE_3d_H_
 
 #include "core/factor/factor_autodiff.h"
 
 namespace wolf
 {
 
-WOLF_PTR_TYPEDEFS(FactorAutodiffDistance3d);
+WOLF_PTR_TYPEDEFS(FactorDistance3d);
 
-class FactorAutodiffDistance3d : public FactorAutodiff<FactorAutodiffDistance3d, 1, 3, 3>
+class FactorDistance3d : public FactorAutodiff<FactorDistance3d, 1, 3, 3>
 {
     public:
-        FactorAutodiffDistance3d(const FeatureBasePtr&   _feat,
+        FactorDistance3d(const FeatureBasePtr&   _feat,
                                  const FrameBasePtr&     _frm_other,
                                  const ProcessorBasePtr& _processor_ptr,
                                  bool                    _apply_loss_function,
@@ -37,7 +37,7 @@ class FactorAutodiffDistance3d : public FactorAutodiff<FactorAutodiffDistance3d,
         {
         }
 
-        ~FactorAutodiffDistance3d() override { /* nothing */ }
+        ~FactorDistance3d() override { /* nothing */ }
 
         std::string getTopology() const override
         {
@@ -74,4 +74,4 @@ class FactorAutodiffDistance3d : public FactorAutodiff<FactorAutodiffDistance3d,
 
 } /* namespace wolf */
 
-#endif /* FACTOR_AUTODIFF_DISTANCE_3d_H_ */
+#endif /* FACTOR_DISTANCE_3d_H_ */

test/gtest_factor_autodiff_distance_3d.cpp

@@ -5,8 +5,8 @@
  *      \author: jsola
  */
 
+#include <core/factor/factor_distance_3d.h>
 #include "../include/core/ceres_wrapper/solver_ceres.h"
-#include "core/factor/factor_autodiff_distance_3d.h"
 #include "core/problem/problem.h"
 
 #include "core/math/rotations.h"
@@ -28,7 +28,7 @@ class FactorAutodiffDistance3d_Test : public testing::Test
         FrameBasePtr    F1, F2;
         CaptureBasePtr  C2;
         FeatureBasePtr  f2;
-        FactorAutodiffDistance3dPtr c2;
+        FactorDistance3dPtr c2;
 
         Vector1d dist;
         Matrix1d dist_cov;
@@ -68,7 +68,7 @@ TEST_F(FactorAutodiffDistance3d_Test, ground_truth)
     double res;
 
     f2 = FeatureBase::emplace<FeatureBase>(C2, "Dist", dist, dist_cov);
-    c2 = FactorBase::emplace<FactorAutodiffDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
+    c2 = FactorBase::emplace<FactorDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
     c2->operator ()(pos1.data(), pos2.data(), &res);
 
     ASSERT_NEAR(res, 0.0, 1e-5);
@@ -79,7 +79,7 @@ TEST_F(FactorAutodiffDistance3d_Test, expected_residual)
     double measurement = 1.400;
 
     f2 = FeatureBase::emplace<FeatureBase>(C2, "Dist", Vector1d(measurement), dist_cov);
-    c2 = FactorBase::emplace<FactorAutodiffDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
+    c2 = FactorBase::emplace<FactorDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
 
     double res_expected = (measurement - (pos2-pos1).norm()) * c2->getMeasurementSquareRootInformationUpper()(0,0);
 
@@ -94,7 +94,7 @@ TEST_F(FactorAutodiffDistance3d_Test, solve)
     double measurement = 1.400;
 
     f2 = FeatureBase::emplace<FeatureBase>(C2, "Dist", Vector1d(measurement), dist_cov);
-    c2 = FactorBase::emplace<FactorAutodiffDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
+    c2 = FactorBase::emplace<FactorDistance3d>(f2, f2, F1, nullptr, false, FAC_ACTIVE);
 
     std::string report = solver->solve(SolverManager::ReportVerbosity::QUIET);