From d28fa829b71777ec43a803c93b74d601fd40bec9 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 4 Mar 2021 18:33:51 +0100
Subject: [PATCH] more small changes and fixes
---
demos/hello_wolf/yaml/processor_odom_2d.yaml | 3 +++
include/core/processor/is_motion.h | 14 +-------------
.../tree_manager_sliding_window_dual_rate.cpp | 2 +-
3 files changed, 5 insertions(+), 14 deletions(-)
diff --git a/demos/hello_wolf/yaml/processor_odom_2d.yaml b/demos/hello_wolf/yaml/processor_odom_2d.yaml
index 04d0ff166..907bbfab3 100644
--- a/demos/hello_wolf/yaml/processor_odom_2d.yaml
+++ b/demos/hello_wolf/yaml/processor_odom_2d.yaml
@@ -10,3 +10,6 @@ keyframe_vote:
max_buff_length: 999
cov_det: 999
apply_loss_function: true
+
+state_getter: true
+state_priority: 1
diff --git a/include/core/processor/is_motion.h b/include/core/processor/is_motion.h
index 767956aa9..7f3e2864d 100644
--- a/include/core/processor/is_motion.h
+++ b/include/core/processor/is_motion.h
@@ -19,21 +19,18 @@ WOLF_STRUCT_PTR_TYPEDEFS(ParamsIsMotion);
struct ParamsIsMotion
{
- std::string name;
bool state_getter = true;
int state_priority = 1;
ParamsIsMotion() = default;
ParamsIsMotion(std::string _unique_name, const ParamsServer& _server)
{
- name = _server.getParam<std::string>("processor/" + _unique_name + "/name");
state_getter = _server.getParam<bool>("processor/" + _unique_name + "/state_getter");
state_priority = _server.getParam<double>("processor/" + _unique_name + "/state_priority");
}
std::string print() const
{
- return "name: " + name + "\n"
- + "state_getter: " + std::to_string(state_getter) + "\n"
+ return "state_getter: " + std::to_string(state_getter) + "\n"
+ "state_priority: " + std::to_string(state_priority) + "\n";
}
@@ -56,7 +53,6 @@ class IsMotion
VectorComposite getOdometry ( ) const;
- std::string getProcessorName() const;
bool isStateGetter() const;
int getStatePriority() const;
void setStatePriority(int);
@@ -82,7 +78,6 @@ inline IsMotion::IsMotion(const StateStructure& _structure, ParamsIsMotionPtr _p
//
}
-
inline wolf::VectorComposite IsMotion::getOdometry ( ) const
{
return odometry_;
@@ -91,19 +86,12 @@ inline wolf::VectorComposite IsMotion::getOdometry ( ) const
}
///// IMPLEMENTATION ///////
-#include "core/common/time_stamp.h"
-
namespace wolf{
inline IsMotion::~IsMotion()
{
}
-inline std::string IsMotion::getProcessorName() const
-{
- return params_is_motion_->name;
-}
-
inline bool IsMotion::isStateGetter() const
{
return params_is_motion_->state_getter;
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 43c8c48a3..c590c4b71 100644
--- a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -38,7 +38,7 @@ void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _frame)
{
// FIXME: IsMotion::mergeCaptures pure virtual in IsMotion without need of casting
WOLF_INFO("TreeManagerSlidingWindowDualRate::keyFrameCallback: IsMotion ",
- is_motion_pair.second->getProcessorName(),
+ std::dynamic_pointer_cast<ProcessorBase>(is_motion_pair.second)->getName(),
" couldn't be casted to ProcessorMotion. Not merging its captures...");
continue;
}
--
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