diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index acecc0f7c6a9aecd4de40a34e178b08654f46dc5..387fd71d5c82dd05fc4d14aab782254cca28557b 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -107,7 +107,7 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
void move(FrameBasePtr);
void link(FrameBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<CaptureBase> emplace(FrameBasePtr _frm_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(FrameBasePtr _frm_ptr, T&&... all);
protected:
SizeEigen computeCalibSize() const;
@@ -130,9 +130,9 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<CaptureBase> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
+std::shared_ptr<classType> CaptureBase::emplace(FrameBasePtr _frm_ptr, T&&... all)
{
- CaptureBasePtr cpt = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> cpt = std::make_shared<classType>(std::forward<T>(all)...);
cpt->link(_frm_ptr);
return cpt;
}
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index b6b7953940279fef26735a06b3d012910590be77..6593383e5137629b94a5f60cf17bc053b0b9991b 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -165,7 +165,7 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
void link(FeatureBasePtr ftr);
template<typename classType, typename... T>
- static std::shared_ptr<FactorBase> emplace(FeatureBasePtr _oth_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(FeatureBasePtr _oth_ptr, T&&... all);
private:
@@ -191,9 +191,9 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<FactorBase> FactorBase::emplace(FeatureBasePtr _ftr_ptr, T&&... all)
+std::shared_ptr<classType> FactorBase::emplace(FeatureBasePtr _ftr_ptr, T&&... all)
{
- FactorBasePtr ctr = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> ctr = std::make_shared<classType>(std::forward<T>(all)...);
ctr->link(_ftr_ptr);
return ctr;
}
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index eb4094d1aa0581478aeef801845abd8ee98ca1b1..65e9228f5b48a6c9687c95d3c1d10c5cce58eb3b 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -98,7 +98,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
void link(CaptureBasePtr cap_ptr);
template<typename classType, typename... T>
- static std::shared_ptr<FeatureBase> emplace(CaptureBasePtr _cpt_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(CaptureBasePtr _cpt_ptr, T&&... all);
protected:
@@ -122,9 +122,9 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
namespace wolf{
template<typename classType, typename... T>
- std::shared_ptr<FeatureBase> FeatureBase::emplace(CaptureBasePtr _cpt_ptr, T&&... all)
+ std::shared_ptr<classType> FeatureBase::emplace(CaptureBasePtr _cpt_ptr, T&&... all)
{
- FeatureBasePtr ftr = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> ftr = std::make_shared<classType>(std::forward<T>(all)...);
ftr->link(_cpt_ptr);
return ftr;
}
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 189b5b5a06ceb0275fa1d11c59ff25a8dad4bc89..e3548b5300b69f29f9bca6992a12f4b2a64c4f04 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -149,7 +149,7 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
const FactorBasePtrList& getConstrainedByList() const;
void link(TrajectoryBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<FrameBase> emplace(TrajectoryBasePtr _ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(TrajectoryBasePtr _ptr, T&&... all);
private:
@@ -173,9 +173,9 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
namespace wolf {
template<typename classType, typename... T>
-std::shared_ptr<FrameBase> FrameBase::emplace(TrajectoryBasePtr _ptr, T&&... all)
+std::shared_ptr<classType> FrameBase::emplace(TrajectoryBasePtr _ptr, T&&... all)
{
- FrameBasePtr frm = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> frm = std::make_shared<classType>(std::forward<T>(all)...);
frm->link(_ptr);
return frm;
}
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index d4843590bd3974d02bcded1360616bac13cf8adb..e33351c3b3bf416baed99b4afa2601cdd923f67e 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -93,7 +93,7 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
MapBasePtr getMap();
void link(MapBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<LandmarkBase> emplace(MapBasePtr _map_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(MapBasePtr _map_ptr, T&&... all);
/** \brief Creator for Factory<LandmarkBase, YAML::Node>
* Caution: This creator does not set the landmark's anchor frame and sensor.
@@ -117,9 +117,9 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<LandmarkBase> LandmarkBase::emplace(MapBasePtr _map_ptr, T&&... all)
+std::shared_ptr<classType> LandmarkBase::emplace(MapBasePtr _map_ptr, T&&... all)
{
- LandmarkBasePtr lmk = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> lmk = std::make_shared<classType>(std::forward<T>(all)...);
lmk->link(_map_ptr);
return lmk;
}
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 00722d20b22fba998db5c0d85fe33391be9c8b94..95d96f22fe0db0dfcb2a8bf804367831c9c45147 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -304,7 +304,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
void link(SensorBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<ProcessorBase> emplace(SensorBasePtr _sen_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(SensorBasePtr _sen_ptr, T&&... all);
void setVotingAuxActive(bool _voting_active = true);
};
@@ -336,9 +336,9 @@ inline void ProcessorBase::setVotingAuxActive(bool _voting_active)
namespace wolf {
template<typename classType, typename... T>
-std::shared_ptr<ProcessorBase> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&... all)
+std::shared_ptr<classType> ProcessorBase::emplace(SensorBasePtr _sen_ptr, T&&... all)
{
- ProcessorBasePtr prc = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> prc = std::make_shared<classType>(std::forward<T>(all)...);
prc->link(_sen_ptr);
return prc;
}
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index fb7444439d51bb68ef0c27d3a48cd7d860973299..78e15380b96fc05bbd818b25aa4211bdeff4e44e 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -199,7 +199,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
void link(HardwareBasePtr);
template<typename classType, typename... T>
- static std::shared_ptr<SensorBase> emplace(HardwareBasePtr _hwd_ptr, T&&... all);
+ static std::shared_ptr<classType> emplace(HardwareBasePtr _hwd_ptr, T&&... all);
protected:
SizeEigen computeCalibSize() const;
@@ -218,9 +218,9 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
namespace wolf{
template<typename classType, typename... T>
-std::shared_ptr<SensorBase> SensorBase::emplace(HardwareBasePtr _hwd_ptr, T&&... all)
+std::shared_ptr<classType> SensorBase::emplace(HardwareBasePtr _hwd_ptr, T&&... all)
{
- SensorBasePtr sen = std::make_shared<classType>(std::forward<T>(all)...);
+ std::shared_ptr<classType> sen = std::make_shared<classType>(std::forward<T>(all)...);
sen->link(_hwd_ptr);
return sen;
}
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 7e32bf8fad08c13274168d176c8767c51f642ae7..f8901a4d9e75edc815913289b697d2a39dd455fe 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -55,6 +55,11 @@ TEST(Emplace, Processor)
ASSERT_EQ(P, P->getHardware()->getSensorList().front()->getProcessorList().front()->getSensor()->getProblem());
ASSERT_EQ(sen, sen->getProcessorList().front()->getSensor());
ASSERT_EQ(prc, sen->getProcessorList().front());
+
+ SensorBasePtr sen2 = SensorBase::emplace<SensorBase>(P->getHardware(), "Dummy", nullptr, nullptr, nullptr, 2, false);
+ ProcessorOdom2DPtr prc2 = ProcessorOdom2D::emplace<ProcessorOdom2D>(sen2, std::make_shared<ProcessorParamsOdom2D>());
+ ASSERT_EQ(sen2, sen2->getProcessorList().front()->getSensor());
+ ASSERT_EQ(prc2, sen2->getProcessorList().front());
}
TEST(Emplace, Capture)
@@ -119,7 +124,7 @@ TEST(Emplace, EmplaceDerived)
auto sen = SensorBase::emplace<SensorOdom2D>(P->getHardware(), Eigen::VectorXs(3), IntrinsicsOdom2D());
auto cov = Eigen::MatrixXs::Identity(2,2);
auto cpt = CaptureBase::emplace<CaptureOdom2D>(frm, TimeStamp(0), sen, Eigen::VectorXs(2), cov, frm);
- auto cpt2 = std::static_pointer_cast<CaptureOdom2D>(cpt);
+ // auto cpt2 = std::static_pointer_cast<CaptureOdom2D>(cpt);
auto m = Eigen::Matrix<Scalar,9,6>();
for(int i = 0; i < 9; i++)
for(int j = 0; j < 6; j++)
@@ -133,6 +138,20 @@ TEST(Emplace, Nullpointer)
{
CaptureBase::emplace<wolf::CaptureBase>(nullptr, "DUMMY", 1.2, nullptr);
}
+TEST(Emplace, ReturnDerived)
+{
+ ProblemPtr P = Problem::create("POV", 3);
+
+ ASSERT_NE(P->getTrajectory(), nullptr);
+ auto frm = FrameBase::emplace<FrameBase>(P->getTrajectory(), KEY, TimeStamp(0), std::make_shared<StateBlock>(2,true), std::make_shared<StateBlock>(2,true));
+ auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
+ auto cov = Eigen::MatrixXs::Identity(2,2);
+ auto ftr = FeatureBase::emplace<FeatureOdom2D>(cpt, Eigen::VectorXs(2), cov);
+ auto cnt = FactorBase::emplace<FactorOdom2D>(ftr, ftr, frm);
+
+ FactorOdom2DPtr fac = FactorBase::emplace<FactorOdom2D>(ftr, ftr, frm);
+
+}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);