From e6921d4d24c82399ee51fc50730887463a75d7c9 Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Fri, 3 Apr 2020 12:58:06 +0200
Subject: [PATCH] Rename X_factory.h -> factory_X.h
Rename {sensor, processor, solver}_factory.h -> factory_{sensor, processor, solver}.h
---
CMakeLists.txt | 6 +-
hello_wolf/processor_range_bearing.cpp | 2 +-
hello_wolf/sensor_range_bearing.cpp | 2 +-
hello_wolf/yaml/sensor_odom_2d.yaml | 2 +-
include/core/common/factory.h | 18 +++---
include/core/problem/problem.h | 6 +-
...rocessor_factory.h => factory_processor.h} | 52 ++++++++--------
.../{sensor_factory.h => factory_sensor.h} | 60 +++++++++----------
.../{solver_factory.h => factory_solver.h} | 46 +++++++-------
src/ceres_wrapper/ceres_manager.cpp | 2 +-
src/problem/problem.cpp | 16 ++---
src/processor/processor_diff_drive.cpp | 2 +-
src/processor/processor_odom_2d.cpp | 2 +-
src/processor/processor_odom_3d.cpp | 2 +-
src/sensor/sensor_diff_drive.cpp | 2 +-
src/sensor/sensor_odom_2d.cpp | 2 +-
src/sensor/sensor_odom_3d.cpp | 2 +-
src/yaml/processor_odom_3d_yaml.cpp | 4 +-
src/yaml/sensor_odom_2d_yaml.cpp | 4 +-
src/yaml/sensor_odom_3d_yaml.cpp | 4 +-
.../dummy/processor_tracker_feature_dummy.cpp | 2 +-
test/gtest_problem.cpp | 2 +-
test/gtest_processor_base.cpp | 2 +-
.../gtest_processor_tracker_feature_dummy.cpp | 2 +-
...gtest_processor_tracker_landmark_dummy.cpp | 2 +-
test/yaml/processor_odom_3d.yaml | 2 +-
test/yaml/sensor_odom_2d.yaml | 2 +-
test/yaml/sensor_odom_3d.yaml | 2 +-
28 files changed, 126 insertions(+), 126 deletions(-)
rename include/core/processor/{processor_factory.h => factory_processor.h} (83%)
rename include/core/sensor/{sensor_factory.h => factory_sensor.h} (83%)
rename include/core/solver/{solver_factory.h => factory_solver.h} (85%)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cab800a23..9ae5db6ed 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -263,7 +263,7 @@ SET(HDRS_PROCESSOR
include/core/processor/motion_buffer.h
include/core/processor/processor_base.h
include/core/processor/processor_diff_drive.h
- include/core/processor/processor_factory.h
+ include/core/processor/factory_processor.h
include/core/processor/processor_logging.h
include/core/processor/processor_loopclosure.h
include/core/processor/processor_motion.h
@@ -277,13 +277,13 @@ SET(HDRS_PROCESSOR
SET(HDRS_SENSOR
include/core/sensor/sensor_base.h
include/core/sensor/sensor_diff_drive.h
- include/core/sensor/sensor_factory.h
+ include/core/sensor/factory_sensor.h
include/core/sensor/sensor_odom_2d.h
include/core/sensor/sensor_odom_3d.h
)
SET(HDRS_SOLVER
include/core/solver/solver_manager.h
- include/core/solver/solver_factory.h
+ include/core/solver/factory_solver.h
)
SET(HDRS_YAML
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 69c3651d4..fb51ed537 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -160,7 +160,7 @@ bool ProcessorRangeBearing::storeCapture(CaptureBasePtr _cap_ptr)
} /* namespace wolf */
// Register in the SensorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf
{
WOLF_REGISTER_PROCESSOR("ProcessorRangeBearing", ProcessorRangeBearing)
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 3eea032b2..4bf5db050 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -38,7 +38,7 @@ SensorRangeBearing::~SensorRangeBearing()
} /* namespace wolf */
// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
namespace wolf
{
WOLF_REGISTER_SENSOR("SensorRangeBearing", SensorRangeBearing)
diff --git a/hello_wolf/yaml/sensor_odom_2d.yaml b/hello_wolf/yaml/sensor_odom_2d.yaml
index 3ad720485..2149405a7 100644
--- a/hello_wolf/yaml/sensor_odom_2d.yaml
+++ b/hello_wolf/yaml/sensor_odom_2d.yaml
@@ -1,4 +1,4 @@
-type: "SensorOdom2d" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "SensorOdom2d" # This must match the KEY used in the FactorySensor. Otherwise it is an error.
k_disp_to_disp: 0.1 # m^2 / m
k_rot_to_rot: 0.1 # rad^2 / rad
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 0d02a89c3..34c214bd6 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -28,8 +28,8 @@ namespace wolf
* This class implements a generic factory as a singleton.
*
* > IMPORTANT: This template factory can be used to construct many different objects except:
- * > - Objects deriving from SensorBase --> see SensorFactory
- * > - Objects deriving from ProcessorBase --> see ProcessorFactory
+ * > - Objects deriving from SensorBase --> see FactorySensor
+ * > - Objects deriving from ProcessorBase --> see FactoryProcessor
* >
* > The reason for this is that the two cases above need a more elaborated API than the one in this template class.
*
@@ -86,8 +86,8 @@ namespace wolf
* The first thing to know is that we have defined typedefs for the templates that we are using. For example:
*
* \code
- * typedef Factory<ParamsSensorBase, std::string> ParamsSensorFactory;
- * typedef Factory<ParamsProcessorBase, std::string> ParamsProcessorFactory;
+ * typedef Factory<ParamsSensorBase, std::string> FactoryParamsSensor;
+ * typedef Factory<ParamsProcessorBase, std::string> FactoryParamsProcessor;
* typedef Factory<LandmarkBase, YAML::Node> LandmarkFactory;
* \endcode
*
@@ -145,7 +145,7 @@ namespace wolf
* For example, in sensor_camera_yaml.cpp we find the line:
*
* \code
- * const bool registered_camera_intr = ParamsSensorFactory::get().registerCreator("CAMERA", createParamsSensorCamera);
+ * const bool registered_camera_intr = FactoryParamsSensor::get().registerCreator("CAMERA", createParamsSensorCamera);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the ParamsSensorCamera class).
@@ -218,15 +218,15 @@ namespace wolf
* \endcode
*
* ### More information
- * - ParamsSensorFactory: typedef of this template to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
- * - ParamsProcessorFactory: typedef of this template to create processor params structs deriving from ParamsProcessorBase directly from YAML files.
+ * - FactoryParamsSensor: typedef of this template to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
+ * - FactoryParamsProcessor: typedef of this template to create processor params structs deriving from ParamsProcessorBase directly from YAML files.
* - LandmarkFactory: typedef of this template to create landmarks deriving from LandmarkBase directly from YAML nodes.
* - Problem::loadMap() : to load a maps directly from YAML files.
* - You can also check the code in the example file ````src/examples/test_map_yaml.cpp````.
*
* #### See also
- * - SensorFactory: to create sensors
- * - ProcessorFactory: to create processors.
+ * - FactorySensor: to create sensors
+ * - FactoryProcessor: to create processors.
* - Problem::installSensor() : to install sensors in WOLF Problem.
* - Problem::installProcessor() : to install processors in WOLF Problem.
*
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 1f76367e6..dc485c527 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -19,8 +19,8 @@ struct ParamsProcessorBase;
#include "core/frame/frame_base.h"
#include "core/state_block/state_block.h"
#include "core/utils/params_server.h"
-#include "core/sensor/sensor_factory.h"
-#include "core/processor/processor_factory.h"
+#include "core/sensor/factory_sensor.h"
+#include "core/processor/factory_processor.h"
#include "core/processor/is_motion.h"
// std includes
@@ -91,7 +91,7 @@ class Problem : public std::enable_shared_from_this<Problem>
* \param _sen_type type of sensor
* \param _unique_sensor_name unique sensor name, used to identify the particular instance of the sensor
* \param _extrinsics a vector of extrinsic parameters: size 2 for 2d position, 3 for 2d pose, 3 for 3d position, 7 for 3d pose.
- * \param _intrinsics_filename the name of a file containing the intrinsic parameters in a format compatible with the intrinsics creator registered in ParamsSensorFactory under the key _sen_type.
+ * \param _intrinsics_filename the name of a file containing the intrinsic parameters in a format compatible with the intrinsics creator registered in FactoryParamsSensor under the key _sen_type.
*/
SensorBasePtr installSensor(const std::string& _sen_type, //
const std::string& _unique_sensor_name, //
diff --git a/include/core/processor/processor_factory.h b/include/core/processor/factory_processor.h
similarity index 83%
rename from include/core/processor/processor_factory.h
rename to include/core/processor/factory_processor.h
index 947955d4b..e744f5325 100644
--- a/include/core/processor/processor_factory.h
+++ b/include/core/processor/factory_processor.h
@@ -1,12 +1,12 @@
/**
- * \file processor_factory.h
+ * \file factory_processor.h
*
* Created on: May 4, 2016
* \author: jsola
*/
-#ifndef PROCESSOR_FACTORY_H_
-#define PROCESSOR_FACTORY_H_
+#ifndef FACTORY_PROCESSOR_H_
+#define FACTORY_PROCESSOR_H_
namespace wolf
{
@@ -47,17 +47,17 @@ namespace wolf
* - Write a processor creator for ProcessorOdom2d (example).
*
* #### Accessing the Factory
- * The ProcessorFactory class is a singleton: it can only exist once in your application.
+ * The FactoryProcessor class is a singleton: it can only exist once in your application.
* To obtain an instance of it, use the static method get(),
*
* \code
- * ProcessorFactory::get()
+ * FactoryProcessor::get()
* \endcode
*
* You can then call the methods you like, e.g. to create a processor, you type:
*
* \code
- * ProcessorFactory::get().create(...); // see below for creating processors ...
+ * FactoryProcessor::get().create(...); // see below for creating processors ...
* \endcode
*
* #### Registering processor creators
@@ -69,7 +69,7 @@ namespace wolf
* that knows how to create your specific processor, e.g.:
*
* \code
- * ProcessorFactory::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
+ * FactoryProcessor::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
* \endcode
*
* The method ProcessorOdom2d::create() exists in the ProcessorOdom2d class as a static method.
@@ -96,7 +96,7 @@ namespace wolf
* For example, in processor_odom_2d.cpp we find the line:
*
* \code
- * const bool registered_odom_2d = ProcessorFactory::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
+ * const bool registered_odom_2d = FactoryProcessor::get().registerCreator("ProcessorOdom2d", ProcessorOdom2d::create);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the ProcessorOdom2d class).
@@ -107,7 +107,7 @@ namespace wolf
* It only needs to be passed the string of the processor type.
*
* \code
- * ProcessorFactory::get().unregisterCreator("ProcessorOdom2d");
+ * FactoryProcessor::get().unregisterCreator("ProcessorOdom2d");
* \endcode
*
* #### Creating processors
@@ -117,7 +117,7 @@ namespace wolf
* To create a ProcessorOdom2d, you type:
*
* \code
- * ProcessorFactory::get().create("ProcessorOdom2d", "main odometry", params_ptr);
+ * FactoryProcessor::get().create("ProcessorOdom2d", "main odometry", params_ptr);
* \endcode
*
* #### Example 1 : using the Factories alone
@@ -125,21 +125,21 @@ namespace wolf
* and bind it to a SensorOdom2d:
*
* \code
- * #include "core/sensor/sensor_odom_2d.h" // provides SensorOdom2d and SensorFactory
- * #include "core/processor/processor_odom_2d.h" // provides ProcessorOdom2d and ProcessorFactory
+ * #include "core/sensor/sensor_odom_2d.h" // provides SensorOdom2d and FactorySensor
+ * #include "core/processor/processor_odom_2d.h" // provides ProcessorOdom2d and FactoryProcessor
*
* // Note: SensorOdom2d::create() is already registered, automatically.
* // Note: ProcessorOdom2d::create() is already registered, automatically.
*
- * // First create the sensor (See SensorFactory for details)
- * SensorBasePtr sensor_ptr = SensorFactory::get().create ( "FactorOdom2d" , "Main odometer" , extrinsics , &intrinsics );
+ * // First create the sensor (See FactorySensor for details)
+ * SensorBasePtr sensor_ptr = FactorySensor::get().create ( "FactorOdom2d" , "Main odometer" , extrinsics , &intrinsics );
*
* // To create a odometry integrator, provide a type="ODOM 2d", a name="main odometry", and a pointer to the parameters struct:
*
* ParamsProcessorOdom2d params({...}); // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
*
* ProcessorBasePtr processor_ptr =
- * ProcessorFactory::get().create ( "ProcessorOdom2d" , "main odometry" , ¶ms );
+ * FactoryProcessor::get().create ( "ProcessorOdom2d" , "main odometry" , ¶ms );
*
* // Bind processor to sensor
* sensor_ptr->addProcessor(processor_ptr);
@@ -168,40 +168,40 @@ namespace wolf
// ParamsProcessor factory
struct ParamsProcessorBase;
typedef Factory<ParamsProcessorBase,
- const std::string&> ParamsProcessorFactory;
+ const std::string&> FactoryParamsProcessor;
template<>
-inline std::string ParamsProcessorFactory::getClass()
+inline std::string FactoryParamsProcessor::getClass()
{
- return "ParamsProcessorFactory";
+ return "FactoryParamsProcessor";
}
// Processor factory
typedef Factory<ProcessorBase,
const std::string&,
- const ParamsProcessorBasePtr> ProcessorFactory;
+ const ParamsProcessorBasePtr> FactoryProcessor;
template<>
-inline std::string ProcessorFactory::getClass()
+inline std::string FactoryProcessor::getClass()
{
- return "ProcessorFactory";
+ return "FactoryProcessor";
}
#define WOLF_REGISTER_PROCESSOR(ProcessorType, ProcessorName) \
namespace{ const bool WOLF_UNUSED ProcessorName##Registered = \
- wolf::ProcessorFactory::get().registerCreator(ProcessorType, ProcessorName::create); } \
+ wolf::FactoryProcessor::get().registerCreator(ProcessorType, ProcessorName::create); } \
typedef Factory<ProcessorBase,
const std::string&,
- const ParamsServer&> AutoConfProcessorFactory;
+ const ParamsServer&> AutoConfFactoryProcessor;
template<>
-inline std::string AutoConfProcessorFactory::getClass()
+inline std::string AutoConfFactoryProcessor::getClass()
{
- return "AutoConfProcessorFactory";
+ return "AutoConfFactoryProcessor";
}
#define WOLF_REGISTER_PROCESSOR_AUTO(ProcessorType, ProcessorName) \
namespace{ const bool WOLF_UNUSED ProcessorName##AutoConfRegistered = \
- wolf::AutoConfProcessorFactory::get().registerCreator(ProcessorType, ProcessorName::create); } \
+ wolf::AutoConfFactoryProcessor::get().registerCreator(ProcessorType, ProcessorName::create); } \
} /* namespace wolf */
diff --git a/include/core/sensor/sensor_factory.h b/include/core/sensor/factory_sensor.h
similarity index 83%
rename from include/core/sensor/sensor_factory.h
rename to include/core/sensor/factory_sensor.h
index daf01499a..cae320bba 100644
--- a/include/core/sensor/sensor_factory.h
+++ b/include/core/sensor/factory_sensor.h
@@ -1,12 +1,12 @@
/**
- * \file sensor_factory.h
+ * \file factory_sensor.h
*
* Created on: Apr 25, 2016
* \author: jsola
*/
-#ifndef SENSOR_FACTORY_H_
-#define SENSOR_FACTORY_H_
+#ifndef FACTORY_SENSOR_H_
+#define FACTORY_SENSOR_H_
namespace wolf
{
@@ -47,17 +47,17 @@ namespace wolf
* - Write a sensor creator for SensorCamera (example).
*
* #### Accessing the factory
- * The SensorFactory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
+ * The FactorySensor class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
* To obtain an instance of it, use the static method get(),
*
* \code
- * SensorFactory::get()
+ * FactorySensor::get()
* \endcode
*
* You can then call the methods you like, e.g. to create a sensor, you type:
*
* \code
- * SensorFactory::get().create(...); // see below for creating sensors ...
+ * FactorySensor::get().create(...); // see below for creating sensors ...
* \endcode
*
* #### Registering sensor creators
@@ -69,7 +69,7 @@ namespace wolf
* that knows how to create your specific sensor, e.g.:
*
* \code
- * SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* \endcode
*
* The method SensorCamera::create() exists in the SensorCamera class as a static method.
@@ -89,7 +89,7 @@ namespace wolf
* For example, in sensor_camera.cpp we find the line:
*
* \code
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the SensorCamera class).
@@ -99,7 +99,7 @@ namespace wolf
* The method unregisterCreator() unregisters the SensorXxx::create() method. It only needs to be passed the string of the sensor type.
*
* \code
- * SensorFactory::get().unregisterCreator("CAMERA");
+ * FactorySensor::get().unregisterCreator("CAMERA");
* \endcode
*
* #### Creating sensors
@@ -109,15 +109,15 @@ namespace wolf
* To create e.g. a SensorCamera, you type:
*
* \code
- * SensorFactory::get().create("CAMERA", "Front-left camera", extrinsics, intrinsics_ptr);
+ * FactorySensor::get().create("CAMERA", "Front-left camera", extrinsics, intrinsics_ptr);
* \endcode
*
* where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
* and to assign it the appropriate processors. DO NOT USE IT WITH DUMMY PARAMETERS!
*
* #### See also
- * - ParamsSensorFactory: to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
- * - ProcessorFactory: to create processors that will be bound to sensors.
+ * - FactoryParamsSensor: to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
+ * - FactoryProcessor: to create processors that will be bound to sensors.
* - Problem::installSensor() : to install sensors in WOLF Problem.
*
* #### Example 1: writing a specific sensor creator
@@ -148,14 +148,14 @@ namespace wolf
* Put the code either at global scope (you must define a dummy variable for this),
* \code
* namespace {
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* }
* main () { ... }
* \endcode
* or inside your main(), where a direct call is possible:
* \code
* main () {
- * SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* ...
* }
* \endcode
@@ -164,7 +164,7 @@ namespace wolf
* Put the code at the last line of the sensor_xxx.cpp file,
* \code
* namespace {
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* }
* \endcode
* Automatic registration is recommended in wolf, and implemented in the classes shipped with it.
@@ -174,7 +174,7 @@ namespace wolf
* We finally provide the necessary steps to create a sensor of class SensorCamera in our application:
*
* \code
- * #include "sensor_factory.h"
+ * #include "factory_sensor.h"
* #include "core/sensor/sensor_camera.h" // provides SensorCamera
*
* // Note: SensorCamera::create() is already registered, automatically.
@@ -189,10 +189,10 @@ namespace wolf
* // a pointer to the intrinsics struct:
*
* Eigen::VectorXd extrinsics_1(7); // give it some values...
- * ParamsSensorCamera intrinsics_1({...}); // see ParamsSensorFactory to fill in the derived struct
+ * ParamsSensorCamera intrinsics_1({...}); // see FactoryParamsSensor to fill in the derived struct
*
* SensorBasePtr camera_1_ptr =
- * SensorFactory::get().create ( "CAMERA" , "Front-left camera" , extrinsics_1 , &intrinsics_1 );
+ * FactorySensor::get().create ( "CAMERA" , "Front-left camera" , extrinsics_1 , &intrinsics_1 );
*
* // A second camera... with a different name!
*
@@ -200,7 +200,7 @@ namespace wolf
* ParamsSensorCamera intrinsics_2({...});
*
* SensorBasePtr camera_2_ptr =
- * SensorFactory::get().create( "CAMERA" , "Front-right camera" , extrinsics_2 , &intrinsics_2 );
+ * FactorySensor::get().create( "CAMERA" , "Front-right camera" , extrinsics_2 , &intrinsics_2 );
*
* return 0;
* }
@@ -212,42 +212,42 @@ namespace wolf
// ParamsSensor factory
struct ParamsSensorBase;
typedef Factory<ParamsSensorBase,
- const std::string&> ParamsSensorFactory;
+ const std::string&> FactoryParamsSensor;
template<>
-inline std::string ParamsSensorFactory::getClass()
+inline std::string FactoryParamsSensor::getClass()
{
- return "ParamsSensorFactory";
+ return "FactoryParamsSensor";
}
// Sensor factory
typedef Factory<SensorBase,
const std::string&,
- const Eigen::VectorXd&, const ParamsSensorBasePtr> SensorFactory;
+ const Eigen::VectorXd&, const ParamsSensorBasePtr> FactorySensor;
template<>
-inline std::string SensorFactory::getClass()
+inline std::string FactorySensor::getClass()
{
- return "SensorFactory";
+ return "FactorySensor";
}
#define WOLF_REGISTER_SENSOR(SensorType, SensorName) \
namespace{ const bool WOLF_UNUSED SensorName##Registered = \
- SensorFactory::get().registerCreator(SensorType, SensorName::create); } \
+ FactorySensor::get().registerCreator(SensorType, SensorName::create); } \
typedef Factory<SensorBase,
const std::string&,
- const ParamsServer&> AutoConfSensorFactory;
+ const ParamsServer&> AutoConfFactorySensor;
template<>
-inline std::string AutoConfSensorFactory::getClass()
+inline std::string AutoConfFactorySensor::getClass()
{
- return "AutoConfSensorFactory";
+ return "AutoConfFactorySensor";
}
#define WOLF_REGISTER_SENSOR_AUTO(SensorType, SensorName) \
namespace{ const bool WOLF_UNUSED SensorName##AutoConfRegistered = \
- AutoConfSensorFactory::get().registerCreator(SensorType, SensorName::create); } \
+ AutoConfFactorySensor::get().registerCreator(SensorType, SensorName::create); } \
} /* namespace wolf */
diff --git a/include/core/solver/solver_factory.h b/include/core/solver/factory_solver.h
similarity index 85%
rename from include/core/solver/solver_factory.h
rename to include/core/solver/factory_solver.h
index d80fe24f7..4c9971d90 100644
--- a/include/core/solver/solver_factory.h
+++ b/include/core/solver/factory_solver.h
@@ -1,12 +1,12 @@
/**
- * \file solver_factory.h
+ * \file factory_solver.h
*
* Created on: Dec 17, 2018
* \author: jcasals
*/
-#ifndef SOLVER_FACTORY_H_
-#define SOLVER_FACTORY_H_
+#ifndef FACTORY_SOLVER_H_
+#define FACTORY_SOLVER_H_
namespace wolf
{
@@ -47,17 +47,17 @@ namespace wolf
* - Write a sensor creator for SensorCamera (example).
*
* #### Accessing the factory
- * The SensorFactory class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
+ * The FactorySensor class is a <a href="http://stackoverflow.com/questions/1008019/c-singleton-design-pattern#1008289">singleton</a>: it can only exist once in your application.
* To obtain an instance of it, use the static method get(),
*
* \code
- * SensorFactory::get()
+ * FactorySensor::get()
* \endcode
*
* You can then call the methods you like, e.g. to create a sensor, you type:
*
* \code
- * SensorFactory::get().create(...); // see below for creating sensors ...
+ * FactorySensor::get().create(...); // see below for creating sensors ...
* \endcode
*
* #### Registering sensor creators
@@ -69,7 +69,7 @@ namespace wolf
* that knows how to create your specific sensor, e.g.:
*
* \code
- * SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* \endcode
*
* The method SensorCamera::create() exists in the SensorCamera class as a static method.
@@ -89,7 +89,7 @@ namespace wolf
* For example, in sensor_camera.cpp we find the line:
*
* \code
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* \endcode
*
* which is a static invocation (i.e., it is placed at global scope outside of the SensorCamera class).
@@ -99,7 +99,7 @@ namespace wolf
* The method unregisterCreator() unregisters the SensorXxx::create() method. It only needs to be passed the string of the sensor type.
*
* \code
- * SensorFactory::get().unregisterCreator("CAMERA");
+ * FactorySensor::get().unregisterCreator("CAMERA");
* \endcode
*
* #### Creating sensors
@@ -109,15 +109,15 @@ namespace wolf
* To create e.g. a SensorCamera, you type:
*
* \code
- * SensorFactory::get().create("CAMERA", "Front-left camera", extrinsics, intrinsics_ptr);
+ * FactorySensor::get().create("CAMERA", "Front-left camera", extrinsics, intrinsics_ptr);
* \endcode
*
* where ABSOLUTELY ALL input parameters are important. In particular, the sensor name "Front-left camera" will be used to identify this camera
* and to assign it the appropriate processors. DO NOT USE IT WITH DUMMY PARAMETERS!
*
* #### See also
- * - ParamsSensorFactory: to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
- * - ProcessorFactory: to create processors that will be bound to sensors.
+ * - FactoryParamsSensor: to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
+ * - FactoryProcessor: to create processors that will be bound to sensors.
* - Problem::installSensor() : to install sensors in WOLF Problem.
*
* #### Example 1: writing a specific sensor creator
@@ -148,14 +148,14 @@ namespace wolf
* Put the code either at global scope (you must define a dummy variable for this),
* \code
* namespace {
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* }
* main () { ... }
* \endcode
* or inside your main(), where a direct call is possible:
* \code
* main () {
- * SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* ...
* }
* \endcode
@@ -164,7 +164,7 @@ namespace wolf
* Put the code at the last line of the sensor_xxx.cpp file,
* \code
* namespace {
- * const bool registered_camera = SensorFactory::get().registerCreator("CAMERA", SensorCamera::create);
+ * const bool registered_camera = FactorySensor::get().registerCreator("CAMERA", SensorCamera::create);
* }
* \endcode
* Automatic registration is recommended in wolf, and implemented in the classes shipped with it.
@@ -174,7 +174,7 @@ namespace wolf
* We finally provide the necessary steps to create a sensor of class SensorCamera in our application:
*
* \code
- * #include "sensor_factory.h"
+ * #include "factory_sensor.h"
* #include "sensor_camera.h" // provides SensorCamera
*
* // Note: SensorCamera::create() is already registered, automatically.
@@ -189,10 +189,10 @@ namespace wolf
* // a pointer to the intrinsics struct:
*
* Eigen::VectorXd extrinsics_1(7); // give it some values...
- * ParamsSensorCamera intrinsics_1({...}); // see ParamsSensorFactory to fill in the derived struct
+ * ParamsSensorCamera intrinsics_1({...}); // see FactoryParamsSensor to fill in the derived struct
*
* SensorBasePtr camera_1_ptr =
- * SensorFactory::get().create ( "CAMERA" , "Front-left camera" , extrinsics_1 , &intrinsics_1 );
+ * FactorySensor::get().create ( "CAMERA" , "Front-left camera" , extrinsics_1 , &intrinsics_1 );
*
* // A second camera... with a different name!
*
@@ -200,7 +200,7 @@ namespace wolf
* ParamsSensorCamera intrinsics_2({...});
*
* SensorBasePtr camera_2_ptr =
- * SensorFactory::get().create( "CAMERA" , "Front-right camera" , extrinsics_2 , &intrinsics_2 );
+ * FactorySensor::get().create( "CAMERA" , "Front-right camera" , extrinsics_2 , &intrinsics_2 );
*
* return 0;
* }
@@ -211,17 +211,17 @@ namespace wolf
typedef Factory<SolverManager,
const ProblemPtr&,
- const ParamsServer&> SolverFactory;
+ const ParamsServer&> FactorySolver;
template<>
-inline std::string SolverFactory::getClass()
+inline std::string FactorySolver::getClass()
{
- return "SolverFactory";
+ return "FactorySolver";
}
#define WOLF_REGISTER_SOLVER(SolverType, SolverName) \
namespace{ const bool WOLF_UNUSED SolverName##Registered = \
- wolf::SolverFactory::get().registerCreator(SolverType, SolverName::create); } \
+ wolf::FactorySolver::get().registerCreator(SolverType, SolverName::create); } \
} /* namespace wolf */
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 0d8cba6f9..c358c072f 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -515,7 +515,7 @@ const Eigen::SparseMatrixd CeresManager::computeHessian() const
} // namespace wolf
-#include "core/solver/solver_factory.h"
+#include "core/solver/factory_solver.h"
namespace wolf {
WOLF_REGISTER_SOLVER("CERES", CeresManager)
} // namespace wolf
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 1d5ad2ec6..785d95f2f 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -8,8 +8,8 @@
#include "core/processor/processor_tracker.h"
#include "core/capture/capture_pose.h"
#include "core/factor/factor_base.h"
-#include "core/sensor/sensor_factory.h"
-#include "core/processor/processor_factory.h"
+#include "core/sensor/factory_sensor.h"
+#include "core/processor/factory_processor.h"
#include "core/state_block/state_block.h"
#include "core/utils/logging.h"
#include "core/utils/params_server.h"
@@ -179,7 +179,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
const Eigen::VectorXd& _extrinsics, //
ParamsSensorBasePtr _intrinsics)
{
- SensorBasePtr sen_ptr = SensorFactory::get().create(_sen_type, _unique_sensor_name, _extrinsics, _intrinsics);
+ SensorBasePtr sen_ptr = FactorySensor::get().create(_sen_type, _unique_sensor_name, _extrinsics, _intrinsics);
sen_ptr->link(getHardware());
return sen_ptr;
}
@@ -194,7 +194,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
if (_intrinsics_filename != "")
{
assert(file_exists(_intrinsics_filename) && "Cannot install sensor: intrinsics' YAML file does not exist.");
- ParamsSensorBasePtr intr_ptr = ParamsSensorFactory::get().create(_sen_type, _intrinsics_filename);
+ ParamsSensorBasePtr intr_ptr = FactoryParamsSensor::get().create(_sen_type, _intrinsics_filename);
return installSensor(_sen_type, _unique_sensor_name, _extrinsics, intr_ptr);
}
else
@@ -206,7 +206,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
const std::string& _unique_sensor_name, //
const ParamsServer& _server)
{
- SensorBasePtr sen_ptr = AutoConfSensorFactory::get().create(_sen_type, _unique_sensor_name, _server);
+ SensorBasePtr sen_ptr = AutoConfFactorySensor::get().create(_sen_type, _unique_sensor_name, _server);
sen_ptr->link(getHardware());
return sen_ptr;
}
@@ -223,7 +223,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
return ProcessorBasePtr();
}
- ProcessorBasePtr prc_ptr = ProcessorFactory::get().create(_prc_type, _unique_processor_name, _prc_params);
+ ProcessorBasePtr prc_ptr = FactoryProcessor::get().create(_prc_type, _unique_processor_name, _prc_params);
//Dimension check
int prc_dim = prc_ptr->getDim();
@@ -253,7 +253,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
else
{
assert(file_exists(_params_filename) && "Cannot install processor: parameters' YAML file does not exist.");
- ParamsProcessorBasePtr prc_params = ParamsProcessorFactory::get().create(_prc_type, _params_filename);
+ ParamsProcessorBasePtr prc_params = FactoryParamsProcessor::get().create(_prc_type, _params_filename);
return installProcessor(_prc_type, _unique_processor_name, sen_ptr, prc_params);
}
}
@@ -267,7 +267,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
if (sen_ptr == nullptr)
throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
- ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(_prc_type, _unique_processor_name, _server);
+ ProcessorBasePtr prc_ptr = AutoConfFactoryProcessor::get().create(_prc_type, _unique_processor_name, _server);
//Dimension check
int prc_dim = prc_ptr->getDim();
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index f8c5c8c0a..ea18e4334 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -174,7 +174,7 @@ FactorBasePtr ProcessorDiffDrive::emplaceFactor(FeatureBasePtr _feature,
// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorDiffDrive", ProcessorDiffDrive);
WOLF_REGISTER_PROCESSOR_AUTO("ProcessorDiffDrive", ProcessorDiffDrive);
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 12266db4b..b5814ab2a 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -171,7 +171,7 @@ FeatureBasePtr ProcessorOdom2d::emplaceFeature(CaptureMotionPtr _capture_motion)
} /* namespace wolf */
// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorOdom2d", ProcessorOdom2d);
WOLF_REGISTER_PROCESSOR_AUTO("ProcessorOdom2d", ProcessorOdom2d);
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index cca930aec..4ed5bbc0e 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -247,7 +247,7 @@ FactorBasePtr ProcessorOdom3d::emplaceFactor(FeatureBasePtr _feature_motion, Cap
}
// Register in the SensorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorOdom3d", ProcessorOdom3d);
WOLF_REGISTER_PROCESSOR_AUTO("ProcessorOdom3d", ProcessorOdom3d);
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index ae48fcceb..6655edcd4 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -48,7 +48,7 @@ SensorDiffDrive::~SensorDiffDrive()
} /* namespace wolf */
// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
namespace wolf {
WOLF_REGISTER_SENSOR("SensorDiffDrive", SensorDiffDrive);
WOLF_REGISTER_SENSOR_AUTO("SensorDiffDrive", SensorDiffDrive);
diff --git a/src/sensor/sensor_odom_2d.cpp b/src/sensor/sensor_odom_2d.cpp
index 57af930f6..7b019ae7d 100644
--- a/src/sensor/sensor_odom_2d.cpp
+++ b/src/sensor/sensor_odom_2d.cpp
@@ -37,7 +37,7 @@ double SensorOdom2d::getRotVarToRotNoiseFactor() const
}
// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
namespace wolf {
WOLF_REGISTER_SENSOR("SensorOdom2d", SensorOdom2d);
WOLF_REGISTER_SENSOR_AUTO("SensorOdom2d", SensorOdom2d);
diff --git a/src/sensor/sensor_odom_3d.cpp b/src/sensor/sensor_odom_3d.cpp
index a79995b85..179b55e45 100644
--- a/src/sensor/sensor_odom_3d.cpp
+++ b/src/sensor/sensor_odom_3d.cpp
@@ -40,7 +40,7 @@ SensorOdom3d::~SensorOdom3d()
} // namespace wolf
// Register in the SensorFactory
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
namespace wolf {
WOLF_REGISTER_SENSOR("SensorOdom3d", SensorOdom3d);
WOLF_REGISTER_SENSOR_AUTO("SensorOdom3d", SensorOdom3d);
diff --git a/src/yaml/processor_odom_3d_yaml.cpp b/src/yaml/processor_odom_3d_yaml.cpp
index bd05bf330..0a0884454 100644
--- a/src/yaml/processor_odom_3d_yaml.cpp
+++ b/src/yaml/processor_odom_3d_yaml.cpp
@@ -47,8 +47,8 @@ static ParamsProcessorBasePtr createProcessorOdom3dParams(const std::string & _f
return nullptr;
}
-// Register in the SensorFactory
-const bool WOLF_UNUSED registered_prc_odom_3d = ParamsProcessorFactory::get().registerCreator("ProcessorOdom3d", createProcessorOdom3dParams);
+// Register in the FactorySensor
+const bool WOLF_UNUSED registered_prc_odom_3d = FactoryParamsProcessor::get().registerCreator("ProcessorOdom3d", createProcessorOdom3dParams);
} // namespace [unnamed]
diff --git a/src/yaml/sensor_odom_2d_yaml.cpp b/src/yaml/sensor_odom_2d_yaml.cpp
index d59cd4dec..b8ef1a083 100644
--- a/src/yaml/sensor_odom_2d_yaml.cpp
+++ b/src/yaml/sensor_odom_2d_yaml.cpp
@@ -39,8 +39,8 @@ static ParamsSensorBasePtr createParamsSensorOdom2d(const std::string & _filenam
return nullptr;
}
-// Register in the SensorFactory
-const bool WOLF_UNUSED registered_odom_2d_intr = ParamsSensorFactory::get().registerCreator("SensorOdom2d", createParamsSensorOdom2d);
+// Register in the FactorySensor
+const bool WOLF_UNUSED registered_odom_2d_intr = FactoryParamsSensor::get().registerCreator("SensorOdom2d", createParamsSensorOdom2d);
} // namespace [unnamed]
diff --git a/src/yaml/sensor_odom_3d_yaml.cpp b/src/yaml/sensor_odom_3d_yaml.cpp
index e437bedcb..5b700eb82 100644
--- a/src/yaml/sensor_odom_3d_yaml.cpp
+++ b/src/yaml/sensor_odom_3d_yaml.cpp
@@ -41,8 +41,8 @@ static ParamsSensorBasePtr createParamsSensorOdom3d(const std::string & _filenam
return nullptr;
}
-// Register in the SensorFactory
-const bool WOLF_UNUSED registered_odom_3d_intr = ParamsSensorFactory::get().registerCreator("SensorOdom3d", createParamsSensorOdom3d);
+// Register in the FactorySensor
+const bool WOLF_UNUSED registered_odom_3d_intr = FactoryParamsSensor::get().registerCreator("SensorOdom3d", createParamsSensorOdom3d);
} // namespace [unnamed]
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 4c7636e1b..4693ff76f 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -111,7 +111,7 @@ ProcessorBasePtr ProcessorTrackerFeatureDummy::create(const std::string& _unique
} // namespace wolf
// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ProcessorTrackerFeatureDummy", ProcessorTrackerFeatureDummy)
} // namespace wolf
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 01c361d8c..187c0994b 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -32,7 +32,7 @@ using namespace Eigen;
// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
} // namespace wolf
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index a9a178e09..f41c0dec4 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -25,7 +25,7 @@ using namespace Eigen;
// Register in the ProcessorFactory
-#include "core/processor/processor_factory.h"
+#include "core/processor/factory_processor.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("TRACKER FEATURE DUMMY", ProcessorTrackerFeatureDummy)
} // namespace wolf
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index db3d21954..f7579f2cd 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -1,7 +1,7 @@
// wolf includes
#include "core/utils/utils_gtest.h"
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
#include "dummy/processor_tracker_feature_dummy.h"
#include "core/capture/capture_void.h"
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index 3eb37a026..8963211c4 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -1,7 +1,7 @@
// wolf includes
#include "core/utils/utils_gtest.h"
-#include "core/sensor/sensor_factory.h"
+#include "core/sensor/factory_sensor.h"
#include "dummy/processor_tracker_landmark_dummy.h"
#include "core/capture/capture_void.h"
diff --git a/test/yaml/processor_odom_3d.yaml b/test/yaml/processor_odom_3d.yaml
index 65b00b967..672421b5d 100644
--- a/test/yaml/processor_odom_3d.yaml
+++ b/test/yaml/processor_odom_3d.yaml
@@ -1,4 +1,4 @@
-type: "ProcessorOdom3d" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "ProcessorOdom3d" # This must match the KEY used in the FactorySensor. Otherwise it is an error.
time_tolerance: 0.01 # seconds
diff --git a/test/yaml/sensor_odom_2d.yaml b/test/yaml/sensor_odom_2d.yaml
index 0841d40b3..2d26af901 100644
--- a/test/yaml/sensor_odom_2d.yaml
+++ b/test/yaml/sensor_odom_2d.yaml
@@ -1,4 +1,4 @@
-type: "SensorOdom2d" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "SensorOdom2d" # This must match the KEY used in the FactorySensor. Otherwise it is an error.
k_disp_to_disp: 0.02 # m^2 / m
k_rot_to_rot: 0.01 # rad^2 / rad
diff --git a/test/yaml/sensor_odom_3d.yaml b/test/yaml/sensor_odom_3d.yaml
index 58db1c088..8eb2b2350 100644
--- a/test/yaml/sensor_odom_3d.yaml
+++ b/test/yaml/sensor_odom_3d.yaml
@@ -1,4 +1,4 @@
-type: "SensorOdom3d" # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+type: "SensorOdom3d" # This must match the KEY used in the FactorySensor. Otherwise it is an error.
k_disp_to_disp: 0.02 # m^2 / m
k_disp_to_rot: 0.02 # rad^2 / m
--
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