From e4dfa56a6d5961decd7f3eec4edc408172d0d847 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Fri, 3 Dec 2021 10:52:27 +0100
Subject: [PATCH] Remove Problem::getMotionProvider()
---
demos/hello_wolf/hello_wolf_autoconf.cpp | 2 +-
demos/hello_wolf/yaml/hello_wolf_config.yaml | 2 +-
include/core/problem/problem.h | 14 +++++++-------
test/gtest_problem.cpp | 10 +++++-----
4 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index ff61e9842..6ba1c65f7 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -144,7 +144,7 @@ int main()
// APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
TimeStamp t(0.0);
FrameBasePtr KF1 = problem->applyPriorOptions(t);
- std::static_pointer_cast<ProcessorMotion>(problem->getMotionProvider())->setOrigin(KF1);
+ std::static_pointer_cast<ProcessorMotion>(problem->getMotionProviderMap().begin()->second)->setOrigin(KF1);
// SELF CALIBRATION ===================================================
// These few lines control whether we calibrate some sensor parameters or not.
diff --git a/demos/hello_wolf/yaml/hello_wolf_config.yaml b/demos/hello_wolf/yaml/hello_wolf_config.yaml
index c35ecb64e..c46580eff 100644
--- a/demos/hello_wolf/yaml/hello_wolf_config.yaml
+++ b/demos/hello_wolf/yaml/hello_wolf_config.yaml
@@ -13,7 +13,7 @@ config:
$sigma:
P: [0.31, 0.31]
O: [0.31]
- time_tolerance: 0.1
+ time_tolerance: 0.5
tree_manager:
type: "none"
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 258f3255a..5e35324c2 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -198,7 +198,7 @@ class Problem : public std::enable_shared_from_this<Problem>
void removeMotionProvider(MotionProviderPtr proc);
public:
- MotionProviderPtr getMotionProvider();
+// MotionProviderPtr getMotionProvider();
std::map<int,MotionProviderPtr>& getMotionProviderMap();
const std::map<int,MotionProviderPtr>& getMotionProviderMap() const;
@@ -449,12 +449,12 @@ inline bool Problem::isPriorSet() const
return prior_options_ == nullptr;
}
-inline MotionProviderPtr Problem::getMotionProvider()
-{
- if (not motion_provider_map_.empty())
- return motion_provider_map_.begin()->second;
- return nullptr;
-}
+//inline MotionProviderPtr Problem::getMotionProvider()
+//{
+// if (not motion_provider_map_.empty())
+// return motion_provider_map_.begin()->second;
+// return nullptr;
+//}
inline std::map<int,MotionProviderPtr>& Problem::getMotionProviderMap()
{
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index e5b0fa387..461e7c130 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -85,7 +85,7 @@ TEST(Problem, Processor)
ProblemPtr P = Problem::create("PO", 3);
// check motion processor is null
- ASSERT_FALSE(P->getMotionProvider());
+ ASSERT_TRUE(P->getMotionProviderMap().empty());
// add a motion sensor and processor
auto Sm = SensorBase::emplace<SensorOdom3d>(P->getHardware(), (Eigen::Vector7d()<<0,0,0, 0,0,0,1).finished(), ParamsSensorOdom3d());
@@ -94,7 +94,7 @@ TEST(Problem, Processor)
auto Pm = ProcessorBase::emplace<ProcessorOdom3d>(Sm, std::make_shared<ParamsProcessorOdom3d>());
// check motion processor IS NOT by emplace
- ASSERT_EQ(P->getMotionProvider(), Pm);
+ ASSERT_EQ(P->getMotionProviderMap().begin()->second, Pm);
}
TEST(Problem, Installers)
@@ -109,16 +109,16 @@ TEST(Problem, Installers)
auto pt = P->installProcessor("ProcessorTrackerFeatureDummy", "dummy", "odometer");
// check motion processor IS NOT set
- ASSERT_FALSE(P->getMotionProvider());
+ ASSERT_TRUE(P->getMotionProviderMap().empty());
// install processor motion
ProcessorBasePtr pm = P->installProcessor("ProcessorOdom3d", "odom integrator", "odometer", wolf_root + "/test/yaml/processor_odom_3d.yaml");
// check motion processor is set
- ASSERT_TRUE(P->getMotionProvider() != nullptr);
+ ASSERT_FALSE(P->getMotionProviderMap().empty());
// check motion processor is correct
- ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getMotionProvider()), pm);
+ ASSERT_EQ(std::dynamic_pointer_cast<ProcessorMotion>(P->getMotionProviderMap().begin()->second), pm);
}
TEST(Problem, SetOrigin_PO_2d)
--
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