deleted demo, moving to a new gtest

demos/demo_processor_tracker_landmark.cpp

-/**
- * \file test_processor_tracker_landmark.cpp
- *
- *  Created on: Apr 12, 2016
- *      \author: jvallve
- */
-
-//std
-#include <iostream>
-
-//Wolf
-#include "core/common/wolf.h"
-#include "core/problem/problem.h"
-#include "core/sensor/sensor_base.h"
-#include "core/state_block/state_block.h"
-#include "core/processor/processor_tracker_landmark_dummy.h"
-#include "core/capture/capture_void.h"
-
-void print_problem_pointers(wolf::ProblemPtr wolf_problem_ptr_)
-{
-    using namespace wolf;
-    std::cout << "\n-----------\nWolf tree begin" << std::endl;
-    std::cout << "Hrd: " << wolf_problem_ptr_->getHardware()->getProblem() << std::endl;
-    for (SensorBasePtr sen : wolf_problem_ptr_->getHardware()->getSensorList())
-    {
-        std::cout << "\tSen: " << sen->getProblem() << std::endl;
-        for (ProcessorBasePtr prc : sen->getProcessorList())
-        {
-            std::cout << "\t\tPrc: " << prc->getProblem() << std::endl;
-        }
-    }
-    std::cout << "Trj: " << wolf_problem_ptr_->getTrajectory()->getProblem() << std::endl;
-    for (FrameBasePtr frm : wolf_problem_ptr_->getTrajectory()->getFrameList())
-    {
-        std::cout << "\tFrm: " << frm->getProblem() << std::endl;
-        for (CaptureBasePtr cap : frm->getCaptureList())
-        {
-            std::cout << "\t\tCap: " << cap->getProblem() << std::endl;
-            for (FeatureBasePtr ftr : cap->getFeatureList())
-            {
-                std::cout << "\t\t\tFtr: " << ftr->getProblem() << std::endl;
-                for (FactorBasePtr ctr : ftr->getFactorList())
-                {
-                    std::cout << "\t\t\t\tCtr: " << ctr->getProblem() << std::endl;
-                }
-            }
-        }
-    }
-    std::cout << "Map: " << wolf_problem_ptr_->getMap()->getProblem() << std::endl;
-    for (LandmarkBasePtr lmk : wolf_problem_ptr_->getMap()->getLandmarkList())
-    {
-        std::cout << "\tLmk: " << lmk->getProblem() << std::endl;
-    }
-    std::cout << "Wolf tree end\n-----------\n" << std::endl;
-}
-
-int main()
-{
-    using namespace wolf;
-
-    std::cout << std::endl << "==================== processor tracker landmark test ======================" << std::endl;
-
-    // Wolf problem
-    ProblemPtr wolf_problem_ptr_ = Problem::create("PO", 2);
-    // SensorBasePtr sensor_ptr_ = std::make_shared< SensorBase>("ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)),
-    //                                          std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
-    //                                          std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
-    auto sensor_ptr_ = SensorBase::emplace<SensorBase>(wolf_problem_ptr_->getHardware(), "ODOM 2D", std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)),
-                                                       std::make_shared<StateBlock>(Eigen::VectorXs::Zero(1)),
-                                                       std::make_shared<StateBlock>(Eigen::VectorXs::Zero(2)), 2);
-    ProcessorParamsTrackerLandmarkPtr params_trk = std::make_shared<ProcessorParamsTrackerLandmark>();
-    params_trk->max_new_features = 5;
-    params_trk->min_features_for_keyframe = 7;
-    params_trk->time_tolerance = 0.25;
-    // std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ = std::make_shared< ProcessorTrackerLandmarkDummy>(params_trk);
-    std::shared_ptr<ProcessorTrackerLandmarkDummy> processor_ptr_ =
-        std::static_pointer_cast<ProcessorTrackerLandmarkDummy>(ProcessorBase::emplace<ProcessorTrackerLandmarkDummy>(sensor_ptr_, params_trk));
-    // wolf_problem_ptr_->addSensor(sensor_ptr_);
-    // sensor_ptr_->addProcessor(processor_ptr_);
-
-    std::cout << "sensor & processor created and added to wolf problem" << std::endl;
-
-    TimeStamp t(0);
-    Scalar dt = 0.5;
-    for (auto i = 0; i < 10; i++)
-    {
-        processor_ptr_->process(std::make_shared<CaptureVoid>(t, sensor_ptr_));
-        t += dt;
-    }
-
-    wolf_problem_ptr_->print(2);
-
-    return 0;
-}
-