From d90cb63215d52dd4846154fb9e93a66423e734a4 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 14 Dec 2020 20:09:22 +0100
Subject: [PATCH] Remove Auxiliare frame and some related renaming
---
include/core/frame/frame_base.h | 7 +++----
src/frame/frame_base.cpp | 4 ++--
test/gtest_frame_base.cpp | 8 ++++----
test/gtest_has_state_blocks.cpp | 4 ++--
test/gtest_pack_KF_buffer.cpp | 10 +++++-----
5 files changed, 16 insertions(+), 17 deletions(-)
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 1b368bf02..298202a24 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -14,8 +14,7 @@ class StateBlock;
typedef enum
{
KEY = 1, ///< key frame. It plays at optimizations (estimated).
- // AUXILIARY = 1, ///< auxiliary frame. It plays at optimizations (estimated).
- NON_ESTIMATED = 0 ///< regular frame. It does not play at optimization.
+ REGULAR = 0 ///< regular frame. It does not play at optimization.
} FrameType;
}
@@ -85,8 +84,8 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
bool isKey() const;
// set type
- void setNonEstimated();
void setKey(ProblemPtr _prb);
+ void unsetKey();
// Frame values ------------------------------------------------
public:
@@ -182,7 +181,7 @@ std::shared_ptr<classType> FrameBase::emplaceKeyFrame(TrajectoryBasePtr _ptr, T&
template<typename classType, typename... T>
std::shared_ptr<classType> FrameBase::createNonKeyFrame(T&&... all)
{
- std::shared_ptr<classType> frm = std::make_shared<classType>(FrameType::NON_ESTIMATED, std::forward<T>(all)...);
+ std::shared_ptr<classType> frm = std::make_shared<classType>(FrameType::REGULAR, std::forward<T>(all)...);
return frm;
}
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 20ab93318..dedc16670 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -133,14 +133,14 @@ void FrameBase::setTimeStamp(const TimeStamp& _ts)
time_stamp_ = _ts;
}
-void FrameBase::setNonEstimated()
+void FrameBase::unsetKey()
{
// unregister if previously estimated
if (isKey())
for (const auto& sb : getStateBlockVec())
getProblem()->notifyStateBlock(sb, REMOVE);
- type_ = NON_ESTIMATED;
+ type_ = REGULAR;
}
void FrameBase::setKey(ProblemPtr _prb)
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 716756653..504ea3afe 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -22,7 +22,7 @@ using namespace wolf;
TEST(FrameBase, GettersAndSetters)
{
- FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
// getters
ASSERT_EQ(F->id(), (unsigned int) 1);
@@ -37,7 +37,7 @@ TEST(FrameBase, GettersAndSetters)
TEST(FrameBase, StateBlocks)
{
- FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
ASSERT_EQ(F->getStateBlockMap().size(),(unsigned int) 2);
ASSERT_EQ(F->getP()->getState().size(),(unsigned int) 2);
@@ -47,7 +47,7 @@ TEST(FrameBase, StateBlocks)
TEST(FrameBase, LinksBasic)
{
- FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+ FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
ASSERT_FALSE(F->getTrajectory());
ASSERT_FALSE(F->getProblem());
@@ -128,7 +128,7 @@ TEST(FrameBase, GetSetState)
StateQuaternionPtr sbq = make_shared<StateQuaternion>();
// Create frame
- FrameBase F(NON_ESTIMATED, 1, sbp, sbq, sbv);
+ FrameBase F(REGULAR, 1, sbp, sbq, sbv);
// Give values to vectors and vector blocks
VectorXd x(10), x1(10), x2(10);
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 646dd602e..c19d99aa6 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -41,8 +41,8 @@ class HasStateBlocksTest : public testing::Test
sbo1 = std::make_shared<StateQuaternion>();
sbv1 = std::make_shared<StateBlock>(3); // size 3
- F0 = std::make_shared<FrameBase>(NON_ESTIMATED, 0.0, sbp0, sbo0); // non KF
- F1 = std::make_shared<FrameBase>(NON_ESTIMATED, 1.0, nullptr); // non KF
+ F0 = std::make_shared<FrameBase>(REGULAR, 0.0, sbp0, sbo0); // non KF
+ F1 = std::make_shared<FrameBase>(REGULAR, 1.0, nullptr); // non KF
}
void TearDown() override{}
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index 056fbcf0b..351edf4c9 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -34,10 +34,10 @@ class BufferPackKeyFrameTest : public testing::Test
void SetUp(void) override
{
- f10 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(10),nullptr,nullptr,nullptr);
- f20 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(20),nullptr,nullptr,nullptr);
- f21 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(21),nullptr,nullptr,nullptr);
- f28 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(28),nullptr,nullptr,nullptr);
+ f10 = std::make_shared<FrameBase>(REGULAR, TimeStamp(10),nullptr,nullptr,nullptr);
+ f20 = std::make_shared<FrameBase>(REGULAR, TimeStamp(20),nullptr,nullptr,nullptr);
+ f21 = std::make_shared<FrameBase>(REGULAR, TimeStamp(21),nullptr,nullptr,nullptr);
+ f28 = std::make_shared<FrameBase>(REGULAR, TimeStamp(28),nullptr,nullptr,nullptr);
tt10 = 1.0;
tt20 = 1.0;
@@ -230,7 +230,7 @@ TEST_F(BufferPackKeyFrameTest, removeUpTo)
// Specifically, only f28 should remain
pack_kf_buffer.add(f28, tt28);
ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 2);
- FrameBasePtr f22 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(22),nullptr,nullptr,nullptr);
+ FrameBasePtr f22 = std::make_shared<FrameBase>(REGULAR, TimeStamp(22),nullptr,nullptr,nullptr);
PackKeyFramePtr pack22 = std::make_shared<PackKeyFrame>(f22,5);
pack_kf_buffer.removeUpTo( pack22->key_frame->getTimeStamp() );
ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 1);
--
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