diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 04e27bd4975af1f4839791cc48bcf4acaff815a5..7ea086fa410d2a18219da118edb3a85be0d8c959 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -83,7 +83,7 @@ int main(int argc, char** argv)
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
- ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
+ ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
prc_imu_params->max_time_span = 10;
prc_imu_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_imu_params->dist_traveled = 1000000000;
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index f5affb647c73cac0b2f5ab29eca4e9ec34b7889c..914f0ee78f74e0e084ee560f8b5e0128be4a89b1 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -105,7 +105,7 @@ int main(int argc, char** argv)
// SENSOR + PROCESSOR IMU
SensorBasePtr sen0_ptr = wolf_problem_ptr_->installSensor("IMU", "Main IMU", (Vector7s()<<0,0,0,0,0,0,1).finished(), wolf_root + "/src/examples/sensor_imu.yaml");
- ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
+ ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
prc_imu_params->max_time_span = 10;
prc_imu_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_imu_params->dist_traveled = 1000000000;
diff --git a/src/processor_IMU.cpp b/src/processor_IMU.cpp
index 2e6340d05f75b96315f317bb7f17d29c80cb7121..0341a5ee48dfc763f00d2fb7a2ece8a86f2f520f 100644
--- a/src/processor_IMU.cpp
+++ b/src/processor_IMU.cpp
@@ -3,7 +3,7 @@
namespace wolf {
-ProcessorIMU::ProcessorIMU(ProcessorIMUParamsPtr _params) :
+ProcessorIMU::ProcessorIMU(ProcessorParamsIMUPtr _params) :
ProcessorMotion("IMU", 10, 10, 9, 6, 0.01, 6),
max_time_span_ (_params ? _params ->max_time_span : 1.0 ),
max_buff_length_(_params ? _params ->max_buff_length : 10000 ),
@@ -25,7 +25,7 @@ ProcessorIMU::~ProcessorIMU()
ProcessorBasePtr ProcessorIMU::create(const std::string& _unique_name, const ProcessorParamsBasePtr _params, const SensorBasePtr _sen_ptr)
{
// cast inputs to the correct type
- std::shared_ptr<ProcessorIMUParams> prc_imu_params = std::static_pointer_cast<ProcessorIMUParams>(_params);
+ std::shared_ptr<ProcessorParamsIMU> prc_imu_params = std::static_pointer_cast<ProcessorParamsIMU>(_params);
ProcessorIMUPtr prc_ptr = std::make_shared<ProcessorIMU>(prc_imu_params);
prc_ptr->setName(_unique_name);
diff --git a/src/processor_IMU.h b/src/processor_IMU.h
index b0c77d6b903ee6399caef17f9d0897859ce44f4e..da50c60943812a412f6057516611ec5edc00f7f6 100644
--- a/src/processor_IMU.h
+++ b/src/processor_IMU.h
@@ -8,9 +8,9 @@
namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorIMUParams);
+WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsIMU);
-struct ProcessorIMUParams : public ProcessorParamsBase
+struct ProcessorParamsIMU : public ProcessorParamsBase
{
Scalar max_time_span;
Size max_buff_length;
@@ -19,7 +19,7 @@ struct ProcessorIMUParams : public ProcessorParamsBase
bool voting_active; //IMU will not vote for key Frames to be created
- ProcessorIMUParams() :
+ ProcessorParamsIMU() :
max_time_span(0.5),
max_buff_length(10),
dist_traveled(5),
@@ -36,7 +36,7 @@ WOLF_PTR_TYPEDEFS(ProcessorIMU);
//class
class ProcessorIMU : public ProcessorMotion{
public:
- ProcessorIMU(ProcessorIMUParamsPtr _params = nullptr);
+ ProcessorIMU(ProcessorParamsIMUPtr _params = nullptr);
virtual ~ProcessorIMU();
protected:
diff --git a/src/test/gtest_feature_IMU.cpp b/src/test/gtest_feature_IMU.cpp
index 5178fb63deec0af50a7e9a5ded8707c0cf44ba30..9f7e9c444d28dbc28efa29d8a7c01806731a9f26 100644
--- a/src/test/gtest_feature_IMU.cpp
+++ b/src/test/gtest_feature_IMU.cpp
@@ -39,7 +39,7 @@ class FeatureIMU_test : public testing::Test
IMU_extrinsics << 0,0,0, 0,0,0,1; // IMU pose in the robot
IntrinsicsIMUPtr sen_imu_params = std::make_shared<IntrinsicsIMU>();
SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", IMU_extrinsics, sen_imu_params);
- ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
+ ProcessorParamsIMUPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
processor_ptr_ = problem->installProcessor("IMU", "IMU pre-integrator", sensor_ptr, prc_imu_params);
// Time and data variables
diff --git a/src/test/gtest_processor_IMU.cpp b/src/test/gtest_processor_IMU.cpp
index f8aac4c30823043472aa73614012bd55cedf4287..b6035ee527755c6e39e007c9b228abac15749077 100644
--- a/src/test/gtest_processor_IMU.cpp
+++ b/src/test/gtest_processor_IMU.cpp
@@ -91,7 +91,7 @@ TEST(ProcessorIMU_constructors, ALL)
ASSERT_EQ(prc0->getAngleTurned(), 0.2);
//constructor with ProcessorIMUParamsPtr argument only
- ProcessorIMUParamsPtr param_ptr = std::make_shared<ProcessorIMUParams>();
+ ProcessorParamsIMUPtr param_ptr = std::make_shared<ProcessorParamsIMU>();
param_ptr->max_time_span = 2.0;
param_ptr->max_buff_length = 20000;
param_ptr->dist_traveled = 2.0;
@@ -137,7 +137,7 @@ TEST(ProcessorIMU, voteForKeyFrame)
ProblemPtr problem = Problem::create("POV 3D");
Vector7s extrinsics = (Vector7s()<<1,0,0, 0,0,0,1).finished();
SensorBasePtr sensor_ptr = problem->installSensor("IMU", "Main IMU", extrinsics, wolf_root + "/src/examples/sensor_imu.yaml");
- ProcessorIMUParamsPtr prc_imu_params = std::make_shared<ProcessorIMUParams>();
+ ProcessorParamsIMUPtr prc_imu_params = std::make_shared<ProcessorParamsIMU>();
prc_imu_params->max_time_span = 1;
prc_imu_params->max_buff_length = 1000000000; //make it very high so that this condition will not pass
prc_imu_params->dist_traveled = 1000000000;
diff --git a/src/yaml/processor_IMU_yaml.cpp b/src/yaml/processor_IMU_yaml.cpp
index 4b04af6253f3852b889e031f7e2c1ded71bb1856..06b5f415c85a83407d676652dfbbcaeea3ffe836 100644
--- a/src/yaml/processor_IMU_yaml.cpp
+++ b/src/yaml/processor_IMU_yaml.cpp
@@ -34,7 +34,7 @@ static ProcessorParamsBasePtr createProcessorIMUParams(const std::string & _file
YAML::Node kf_vote = config["keyframe vote"];
- ProcessorIMUParamsPtr params = std::make_shared<ProcessorIMUParams>();
+ ProcessorParamsIMUPtr params = std::make_shared<ProcessorParamsIMU>();
params->type = processor_type;
params->name = processor_name;