diff --git a/include/core/common/node_state_blocks.h b/include/core/common/node_state_blocks.h
index 9dc0f134afb61c8eef96b522c291f68b00f4027a..b472e80211eb1c9111ca23c0f7b7bb3fa8897195 100644
--- a/include/core/common/node_state_blocks.h
+++ b/include/core/common/node_state_blocks.h
@@ -88,18 +88,16 @@ class NodeStateBlocks : public NodeBase, public std::enable_shared_from_this<Nod
* \param _fixed If the new state is fixed (i.e. not estimated).
**/
StateBlockPtr emplaceStateBlock(const char key,
- const std::string& _type,
- const Eigen::VectorXd& _vector,
- const bool& _fixed);
- /** \brief Emplace a state block with zero state
- *
- * \param _key Key of the new state.
- * \param _type Types of the new state.
- * \param _fixed If the new state is fixed (i.e. not estimated).
- **/
- StateBlockPtr emplaceStateBlockZero(const char key,
- const std::string& _type,
- const bool& _fixed);
+ const std::string& _type,
+ const Eigen::VectorXd& _vector,
+ const bool& _fixed);
+ /** \brief Emplace a state block with zero state
+ *
+ * \param _key Key of the new state.
+ * \param _type Types of the new state.
+ * \param _fixed If the new state is fixed (i.e. not estimated).
+ **/
+ StateBlockPtr emplaceStateBlockZero(const char key, const std::string& _type, const bool& _fixed);
protected:
virtual void removeStateBlock(const char& _sb_key);
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 73bf60933c51fc1c12ffbc35a9cf63b9252c3a0f..6c8b0ffa399f574df3a7824a9b585a82525020e9 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -152,7 +152,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
virtual void remove();
bool hasChildren() const override;
const TypeComposite& getStateTypes() const;
- StateKeys getStateKeys() const;
+ StateKeys getStateKeys() const;
unsigned int id() const;
@@ -232,11 +232,11 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
}
public:
- YAML::Node getParams() const;
- bool isMotionProvider() const;
- bool applyLossFunction() const;
- bool isVotingActive() const;
- double getTimeTolerance() const;
+ YAML::Node getParams() const;
+ bool isMotionProvider() const;
+ bool applyLossFunction() const;
+ bool isVotingActive() const;
+ double getTimeTolerance() const;
void setApplyLossFunction(bool _apply_loss_function);
void setVotingActive(bool _voting_active);
diff --git a/include/core/processor/processor_landmark_external.h b/include/core/processor/processor_landmark_external.h
index 969502b2c4c28f3cf2225c61f6a7a071b669caa1..2198fabea708b402e3d4f786cfda6fd7b2ba3a25 100644
--- a/include/core/processor/processor_landmark_external.h
+++ b/include/core/processor/processor_landmark_external.h
@@ -38,7 +38,7 @@ class ProcessorLandmarkExternal : public ProcessorTracker
// Factory method for high level API
WOLF_PROCESSOR_CREATE(ProcessorLandmarkExternal);
- void configure(SensorBasePtr _sensor) override {};
+ void configure(SensorBasePtr _sensor) override{};
protected:
TrackMatrix track_matrix_;
@@ -103,7 +103,7 @@ class ProcessorLandmarkExternal : public ProcessorTracker
*
* It does nothing for now
*/
- void postProcess() override {};
+ void postProcess() override{};
void advanceDerived() override;
void resetDerived() override;
@@ -155,6 +155,6 @@ inline ProcessorLandmarkExternal::ProcessorLandmarkExternal(const YAML::Node& _p
match_dist_th_unknown_(_params["match_dist_th_unknown"].as<double>()),
track_length_th_(_params["track_length_th"].as<unsigned int>()),
close_loops_by_id_(_params["close_loops_by_id"].as<bool>()),
- close_loops_by_type_(_params["close_loops_by_type"].as<bool>()) {};
+ close_loops_by_type_(_params["close_loops_by_type"].as<bool>()){};
} // namespace wolf
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 147f3caccd8133a5f53166d4064c7d9b24c8df9c..cc47be5faaf9d0ecd351133b9a049461f5095152 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -96,7 +96,7 @@ class ProcessorTracker : public ProcessorBase
FeatureBasePtrList
known_features_last_; ///< list of the known features in previous captures successfully tracked in \b last
FeatureBasePtrList
- known_features_incoming_; ///< list of the known features in \b last successfully tracked in \b incoming
+ known_features_incoming_; ///< list of the known features in \b last successfully tracked in \b incoming
// PARAMS
unsigned int min_features_for_keyframe_; ///< minimum nbr. of features to vote for keyframe
@@ -181,7 +181,7 @@ class ProcessorTracker : public ProcessorBase
* - initializing counters, flags, or any derived variables
* - initializing algorithms needed for processing the derived data
*/
- virtual void preProcess() {};
+ virtual void preProcess(){};
/** Post-process
*
@@ -193,7 +193,7 @@ class ProcessorTracker : public ProcessorBase
* - resetting and/or clearing variables and/or algorithms at the end of processing
* - drawing / printing / logging the results of the processing
*/
- virtual void postProcess() {};
+ virtual void postProcess(){};
/** \brief Tracker function
* \return The number of successful tracks.
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index f0739a87ada759e2e7b87f9d7a7ef1cdb55b820a..bc19f53fccfb396397743e7def12fdbe422253c9 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -116,8 +116,8 @@ class StateBlock : public std::enable_shared_from_this<StateBlock>
bool _transformable = true);
///< Explicitly not copyable/movable
- StateBlock(const StateBlock& o) = delete;
- StateBlock(StateBlock&& o) = delete;
+ StateBlock(const StateBlock& o) = delete;
+ StateBlock(StateBlock&& o) = delete;
StateBlock& operator=(const StateBlock& o) = delete;
/** \brief Destructor
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 2c5d981e15d701e0b65d581555a504dd0cd0df47..a744c222d91986ca9ba35df0cbf26314c6968998 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -474,8 +474,9 @@ FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, const StateKeys
FrameBasePtr Problem::emplaceFrame(const TimeStamp& _time_stamp, const VectorComposite& _frame_state)
{
if (not frame_types_.has(_frame_state.getKeys()))
- throw std::runtime_error("Problem::emplaceFrame: any unknown type. given vectors for keys " + _frame_state.getKeys() +
- " but problem only know the types of " + frame_types_.getKeys());
+ throw std::runtime_error("Problem::emplaceFrame: any unknown type. given vectors for keys " +
+ _frame_state.getKeys() + " but problem only know the types of " +
+ frame_types_.getKeys());
return Problem::emplaceFrame(_time_stamp, getFrameTypes(_frame_state.getKeys()), _frame_state);
}
@@ -625,7 +626,7 @@ VectorComposite Problem::getState(const TimeStamp& _ts, const StateKeys& _keys)
{
if (not frame_types_.has(_keys))
throw std::runtime_error("Problem::getState: unknown key! Asked for " + _keys +
- " but installed processors only work with " + frame_types_.getKeys());
+ " but installed processors only work with " + frame_types_.getKeys());
WOLF_WARN_COND(_keys.empty(), "Empty keys provided. Returning empty state.");
if (_keys.empty()) return VectorComposite();
@@ -691,7 +692,7 @@ VectorComposite Problem::getOdometry(const StateKeys& _keys) const
{
if (not frame_types_.has(_keys))
throw std::runtime_error("Problem::getState: unknown key! Asked for " + _keys +
- " but installed processors only work with " + frame_types_.getKeys());
+ " but installed processors only work with " + frame_types_.getKeys());
WOLF_WARN_COND(_keys.empty(), "Empty keys provided. Returning empty state.");
if (_keys.empty()) return VectorComposite();
diff --git a/src/processor/processor_loop_closure.cpp b/src/processor/processor_loop_closure.cpp
index cad2e26f876b1649cb0271bc92d203d91579025f..f30443fb0006c3d352935fb2ef7a8865351395a0 100644
--- a/src/processor/processor_loop_closure.cpp
+++ b/src/processor/processor_loop_closure.cpp
@@ -20,7 +20,9 @@
namespace wolf
{
-ProcessorLoopClosure::ProcessorLoopClosure(const std::string& _type, const TypeComposite& _state_types, const YAML::Node& _params)
+ProcessorLoopClosure::ProcessorLoopClosure(const std::string& _type,
+ const TypeComposite& _state_types,
+ const YAML::Node& _params)
: ProcessorBase(_type, _state_types, _params)
{
//
diff --git a/test/dummy/processor_motion_provider_dummy_pov.cpp b/test/dummy/processor_motion_provider_dummy_pov.cpp
index 4cb0850a3c9f48cebf4be207e7a79ffbe1b16adf..322e9cd6cc4476bc5a9ca3b90e55d4ea61d1a511 100644
--- a/test/dummy/processor_motion_provider_dummy_pov.cpp
+++ b/test/dummy/processor_motion_provider_dummy_pov.cpp
@@ -21,7 +21,9 @@
namespace wolf
{
ProcessorMotionProviderDummyPOV::ProcessorMotionProviderDummyPOV(const YAML::Node& _params)
- : ProcessorBase("ProcessorMotionProviderDummyPOV", {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'V', "StateVector2d"}}, _params),
+ : ProcessorBase("ProcessorMotionProviderDummyPOV",
+ {{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'V', "StateVector2d"}},
+ _params),
MotionProvider({{'P', "StatePoint2d"}, {'O', "StateAngle"}, {'V', "StateVector2d"}}, _params)
{
}
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 737b19422c4452b7f238f3bbc58d3a89db5140ae..407ed00f982bc232a3a8570834aa31ed8f5cc08a 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -90,7 +90,7 @@ TEST(Problem, emplaceFirstFrame_PO_2d)
TimeStamp t0(0);
VectorComposite first_frame_values{{'P', Vector2d(1, 2)}, {'O', Vector1d(3)}};
PriorComposite first_frame_priors{{'P', Prior("factor", Vector2d::Constant(sqrt(0.1)))},
- {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}};
+ {'O', Prior("factor", Vector1d::Constant(sqrt(0.1)))}};
P->emplaceFirstFrame(t0, {{'P', "StatePoint2d"}, {'O', "StateAngle"}}, first_frame_values, first_frame_priors);
WOLF_INFO("printing...");
@@ -144,7 +144,7 @@ TEST(Problem, emplaceFirstFrame_PO_3d)
TimeStamp t0(0);
VectorComposite first_frame_values{{'P', Vector3d(1, 2, 3)}, {'O', Vector4d(4, 5, 6, 7).normalized()}};
PriorComposite first_frame_priors{{'P', Prior("factor", Vector3d::Constant(sqrt(0.1)))},
- {'O', Prior("factor", Vector3d::Constant(sqrt(0.1)))}};
+ {'O', Prior("factor", Vector3d::Constant(sqrt(0.1)))}};
P->emplaceFirstFrame(
t0, {{'P', "StatePoint3d"}, {'O', "StateQuaternion"}}, first_frame_values, first_frame_priors);
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index 5b82bb2acd1ce0d696507cd9c3105a2909ceba01..b5fa629e2efa0aac60ac3eedb377dbf75fdae7f6 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -59,7 +59,7 @@ class ProcessorLandmarkExternalTest : public testing::Test
VectorComposite state_robot, state_sensor;
std::vector<VectorComposite> state_landmarks;
- virtual void SetUp() {};
+ virtual void SetUp(){};
void initProblem(int _dim,
bool _orientation,
int _mode,
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index 72505e093bbd5c59e696f7bc286ea5d00a7d3397..bf68d7ffaf11352a7899482a7a6ca2e622732557 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -164,12 +164,12 @@ TEST_F(ProcessorTrackerFeatureDummyTest, processKnown)
TEST_F(ProcessorTrackerFeatureDummyTest, emplaceFactor)
{
- FrameBasePtr frm = problem->emplaceFrame(0, problem->stateZero("P"));
+ FrameBasePtr frm = problem->emplaceFrame(0, problem->stateZero("P"));
CaptureBasePtr cap = CaptureBase::emplace<CaptureVoid>(frm, 0, sensor);
FeatureBasePtr ftr =
FeatureBase::emplace<FeatureBase>(cap, "DUMMY FEATURE", Eigen::Vector1d::Ones(), Eigen::MatrixXd::Ones(1, 1));
- FrameBasePtr frm_other = problem->emplaceFrame(1, problem->stateZero("P"));
+ FrameBasePtr frm_other = problem->emplaceFrame(1, problem->stateZero("P"));
CaptureBasePtr cap_other = CaptureBase::emplace<CaptureVoid>(frm_other, 1, sensor);
FeatureBasePtr ftr_other = FeatureBase::emplace<FeatureBase>(
cap_other, "DUMMY FEATURE", Eigen::Vector1d::Ones(), Eigen::MatrixXd::Ones(1, 1));
@@ -191,12 +191,12 @@ TEST_F(ProcessorTrackerFeatureDummyTest, emplaceFactor)
TEST_F(ProcessorTrackerFeatureDummyTest, establishFactors)
{
// Put a capture on last_ptr_
- FrameBasePtr last_frm = problem->emplaceFrame(0, problem->stateZero("P"));
+ FrameBasePtr last_frm = problem->emplaceFrame(0, problem->stateZero("P"));
CaptureBasePtr last_cap = CaptureBase::emplace<CaptureVoid>(last_frm, 0, sensor);
processor->setLast(last_cap);
// Put a capture on incoming_ptr_
- FrameBasePtr inc_frm = problem->emplaceFrame(1, problem->stateZero("P"));
+ FrameBasePtr inc_frm = problem->emplaceFrame(1, problem->stateZero("P"));
CaptureBasePtr inc_cap = CaptureBase::emplace<CaptureVoid>(inc_frm, 1, sensor);
processor->setInc(inc_cap);
@@ -280,7 +280,7 @@ TEST_F(ProcessorTrackerFeatureDummyTest, process)
ASSERT_TRUE(problem->check(0));
problem->print(4, 1, 0, 0);
-
+
// 5TH TIME -> KF in cap4 (tracked features < 7 (params->min_features_for_keyframe))
WOLF_INFO("Fifth time...");
CaptureBasePtr cap5 = std::make_shared<CaptureVoid>(4, sensor);
diff --git a/test/gtest_tree_manager_sliding_window_dual_rate.cpp b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
index 0fb4ef3d889df64228d5dae599de5fe366e9a3f9..61165b54c5d070195314648ffbd2b12557bfaf2a 100644
--- a/test/gtest_tree_manager_sliding_window_dual_rate.cpp
+++ b/test/gtest_tree_manager_sliding_window_dual_rate.cpp
@@ -1172,15 +1172,17 @@ TEST(TreeManagerSlidingWindowDualRate, slidingWindowWithProcessor)
WOLF_INFO("state: ", problem->getState("PO").vector("PO").transpose());
- ASSERT_POSE3d_APPROX(
- problem->getState("PO").vector("PO").transpose(), problem_bl->getState("PO").vector("PO").transpose(), 1e-12);
+ ASSERT_POSE3d_APPROX(problem->getState("PO").vector("PO").transpose(),
+ problem_bl->getState("PO").vector("PO").transpose(),
+ 1e-12);
// Solve
solver->solve();
solver_bl->solve();
- ASSERT_POSE3d_APPROX(
- problem->getState("PO").vector("PO").transpose(), problem_bl->getState("PO").vector("PO").transpose(), 1e-12);
+ ASSERT_POSE3d_APPROX(problem->getState("PO").vector("PO").transpose(),
+ problem_bl->getState("PO").vector("PO").transpose(),
+ 1e-12);
ASSERT_TRUE(problem->check());
}