From e8c1be3eea41224adbe9b314cd3cc04b5e699fe7 Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Tue, 2 Apr 2019 13:03:53 +0200
Subject: [PATCH] Pending .*Ptr(_) renamings
---
include/base/capture/capture_base.h | 20 ++++++-------
include/base/capture/capture_laser_2D.h | 6 ++--
include/base/capture/capture_motion.h | 4 +--
.../capture/capture_wheel_joint_position.h | 2 +-
.../base/factor/factor_autodiff_distance_3D.h | 2 +-
.../base/factor/factor_autodiff_trifocal.h | 2 +-
include/base/factor/factor_base.h | 10 +++----
include/base/factor/factor_point_2D.h | 6 ++--
include/base/factor/factor_point_to_line_2D.h | 4 +--
include/base/feature/feature_base.h | 2 +-
include/base/frame_base.h | 24 +++++++--------
include/base/landmark/landmark_base.h | 28 ++++++++---------
include/base/landmark/landmark_polyline_2D.h | 2 +-
include/base/problem.h | 2 +-
include/base/processor/processor_base.h | 2 +-
include/base/sensor/sensor_base.h | 26 ++++++++--------
include/base/state_block.h | 4 +--
include/base/trajectory_base.h | 4 +--
src/capture/capture_base.cpp | 28 ++++++++---------
src/examples/test_factor_imu.cpp | 12 ++++----
src/examples/test_map_yaml.cpp | 2 +-
src/feature/feature_IMU.cpp | 4 +--
src/feature/feature_base.cpp | 4 +--
src/frame_base.cpp | 12 ++++----
src/hardware_base.cpp | 2 +-
src/landmark/landmark_base.cpp | 6 ++--
src/landmark/landmark_polyline_2D.cpp | 8 ++---
src/map_base.cpp | 4 +--
src/problem.cpp | 6 ++--
src/processor/processor_motion.cpp | 2 +-
.../processor_tracker_landmark_polyline.cpp | 18 +++++------
src/sensor/sensor_base.cpp | 30 +++++++++----------
src/state_block.cpp | 2 +-
src/track_matrix.cpp | 2 +-
src/trajectory_base.cpp | 2 +-
test/gtest_capture_base.cpp | 2 +-
test/gtest_ceres_manager.cpp | 8 ++---
test/gtest_feature_IMU.cpp | 4 +--
...essor_frame_nearest_neighbor_filter_2D.cpp | 6 ++--
test/gtest_solver_manager.cpp | 4 +--
wolf_scripts/substitution.sh | 3 +-
41 files changed, 161 insertions(+), 160 deletions(-)
diff --git a/include/base/capture/capture_base.h b/include/base/capture/capture_base.h
index 7643f243e..0082d9d31 100644
--- a/include/base/capture/capture_base.h
+++ b/include/base/capture/capture_base.h
@@ -57,7 +57,7 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
void setTimeStampToNow();
FrameBasePtr getFrame() const;
- void setFramePtr(const FrameBasePtr _frm_ptr);
+ void setFrame(const FrameBasePtr _frm_ptr);
void unlinkFromFrame(){frame_ptr_.reset();}
virtual void setProblem(ProblemPtr _problem) final;
@@ -69,7 +69,7 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
void getFactorList(FactorBasePtrList& _fac_list);
SensorBasePtr getSensor() const;
- virtual void setSensorPtr(const SensorBasePtr sensor_ptr);
+ virtual void setSensor(const SensorBasePtr sensor_ptr);
// constrained by
virtual FactorBasePtr addConstrainedBy(FactorBasePtr _fac_ptr);
@@ -79,8 +79,8 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
// State blocks
const std::vector<StateBlockPtr>& getStateBlockVec() const;
std::vector<StateBlockPtr>& getStateBlockVec();
- StateBlockPtr getStateBlockPtr(unsigned int _i) const;
- void setStateBlockPtr(unsigned int _i, const StateBlockPtr _sb_ptr);
+ StateBlockPtr getStateBlock(unsigned int _i) const;
+ void setStateBlock(unsigned int _i, const StateBlockPtr _sb_ptr);
StateBlockPtr getSensorP() const;
StateBlockPtr getSensorO() const;
@@ -143,24 +143,24 @@ inline std::vector<StateBlockPtr>& CaptureBase::getStateBlockVec()
return state_block_vec_;
}
-inline void CaptureBase::setStateBlockPtr(unsigned int _i, const StateBlockPtr _sb_ptr)
+inline void CaptureBase::setStateBlock(unsigned int _i, const StateBlockPtr _sb_ptr)
{
state_block_vec_[_i] = _sb_ptr;
}
inline StateBlockPtr CaptureBase::getSensorP() const
{
- return getStateBlockPtr(0);
+ return getStateBlock(0);
}
inline StateBlockPtr CaptureBase::getSensorO() const
{
- return getStateBlockPtr(1);
+ return getStateBlock(1);
}
inline StateBlockPtr CaptureBase::getSensorIntrinsic() const
{
- return getStateBlockPtr(2);
+ return getStateBlock(2);
}
inline unsigned int CaptureBase::id()
@@ -173,7 +173,7 @@ inline FrameBasePtr CaptureBase::getFrame() const
return frame_ptr_.lock();
}
-inline void CaptureBase::setFramePtr(const FrameBasePtr _frm_ptr)
+inline void CaptureBase::setFrame(const FrameBasePtr _frm_ptr)
{
frame_ptr_ = _frm_ptr;
}
@@ -203,7 +203,7 @@ inline SensorBasePtr CaptureBase::getSensor() const
return sensor_ptr_.lock();
}
-inline void CaptureBase::setSensorPtr(const SensorBasePtr sensor_ptr)
+inline void CaptureBase::setSensor(const SensorBasePtr sensor_ptr)
{
sensor_ptr_ = sensor_ptr;
}
diff --git a/include/base/capture/capture_laser_2D.h b/include/base/capture/capture_laser_2D.h
index 9abd6bf4b..96a434547 100644
--- a/include/base/capture/capture_laser_2D.h
+++ b/include/base/capture/capture_laser_2D.h
@@ -28,7 +28,7 @@ class CaptureLaser2D : public CaptureBase
laserscanutils::LaserScan& getScan();
- void setSensorPtr(const SensorBasePtr sensor_ptr);
+ void setSensor(const SensorBasePtr sensor_ptr);
private:
SensorLaser2DPtr laser_ptr_; //specific pointer to sensor laser 2D object
@@ -41,9 +41,9 @@ inline laserscanutils::LaserScan& CaptureLaser2D::getScan()
return scan_;
}
-inline void CaptureLaser2D::setSensorPtr(const SensorBasePtr sensor_ptr)
+inline void CaptureLaser2D::setSensor(const SensorBasePtr sensor_ptr)
{
- CaptureBase::setSensorPtr(sensor_ptr);
+ CaptureBase::setSensor(sensor_ptr);
laser_ptr_ = std::static_pointer_cast<SensorLaser2D>(sensor_ptr);
}
diff --git a/include/base/capture/capture_motion.h b/include/base/capture/capture_motion.h
index ab932da22..ed71171e9 100644
--- a/include/base/capture/capture_motion.h
+++ b/include/base/capture/capture_motion.h
@@ -97,7 +97,7 @@ class CaptureMotion : public CaptureBase
// Origin frame
FrameBasePtr getOriginFrame();
- void setOriginFramePtr(FrameBasePtr _frame_ptr);
+ void setOriginFrame(FrameBasePtr _frame_ptr);
// member data:
private:
@@ -161,7 +161,7 @@ inline FrameBasePtr CaptureMotion::getOriginFrame()
return origin_frame_ptr_.lock();
}
-inline void CaptureMotion::setOriginFramePtr(FrameBasePtr _frame_ptr)
+inline void CaptureMotion::setOriginFrame(FrameBasePtr _frame_ptr)
{
origin_frame_ptr_ = _frame_ptr;
}
diff --git a/include/base/capture/capture_wheel_joint_position.h b/include/base/capture/capture_wheel_joint_position.h
index 0bade4029..a90cdb205 100644
--- a/include/base/capture/capture_wheel_joint_position.h
+++ b/include/base/capture/capture_wheel_joint_position.h
@@ -155,7 +155,7 @@ protected:
// ~CaptureWheelJointPosition() = default;
-//// void setSensorPtr(const SensorBasePtr sensor_ptr) override;
+//// void setSensor(const SensorBasePtr sensor_ptr) override;
// std::size_t getNumWheels() const noexcept
// {
diff --git a/include/base/factor/factor_autodiff_distance_3D.h b/include/base/factor/factor_autodiff_distance_3D.h
index 0eb1fc757..77eb08e2a 100644
--- a/include/base/factor/factor_autodiff_distance_3D.h
+++ b/include/base/factor/factor_autodiff_distance_3D.h
@@ -34,7 +34,7 @@ class FactorAutodiffDistance3D : public FactorAutodiff<FactorAutodiffDistance3D,
_feat->getFrame()->getP(),
_frm_other->getP())
{
- setFeaturePtr(_feat);
+ setFeature(_feat);
}
virtual ~FactorAutodiffDistance3D() { /* nothing */ }
diff --git a/include/base/factor/factor_autodiff_trifocal.h b/include/base/factor/factor_autodiff_trifocal.h
index b7e56e0ac..d7c2091fb 100644
--- a/include/base/factor/factor_autodiff_trifocal.h
+++ b/include/base/factor/factor_autodiff_trifocal.h
@@ -152,7 +152,7 @@ FactorAutodiffTrifocal::FactorAutodiffTrifocal(const FeatureBasePtr& _feature_pr
camera_ptr_(std::static_pointer_cast<SensorCamera>(_processor_ptr->getSensor())),
sqrt_information_upper(Matrix3s::Zero())
{
- setFeaturePtr(_feature_last_ptr);
+ setFeature(_feature_last_ptr);
Matrix3s K_inv = camera_ptr_->getIntrinsicMatrix().inverse();
pixel_canonical_prev_ = K_inv * Vector3s(_feature_prev_ptr ->getMeasurement(0), _feature_prev_ptr ->getMeasurement(1), 1.0);
pixel_canonical_origin_ = K_inv * Vector3s(_feature_origin_ptr->getMeasurement(0), _feature_origin_ptr->getMeasurement(1), 1.0);
diff --git a/include/base/factor/factor_base.h b/include/base/factor/factor_base.h
index ab5e362e8..4562d5f75 100644
--- a/include/base/factor/factor_base.h
+++ b/include/base/factor/factor_base.h
@@ -113,7 +113,7 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
/** \brief Returns a pointer to the feature constrained from
**/
FeatureBasePtr getFeature() const;
- void setFeaturePtr(const FeatureBasePtr _ft_ptr){feature_ptr_ = _ft_ptr;}
+ void setFeature(const FeatureBasePtr _ft_ptr){feature_ptr_ = _ft_ptr;}
/** \brief Returns a pointer to its capture
**/
@@ -142,22 +142,22 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
/** \brief Returns a pointer to the frame constrained to
**/
FrameBasePtr getFrameOther() const { return frame_other_ptr_.lock(); }
- void setFrameOtherPtr(FrameBasePtr _frm_o) { frame_other_ptr_ = _frm_o; }
+ void setFrameOther(FrameBasePtr _frm_o) { frame_other_ptr_ = _frm_o; }
/** \brief Returns a pointer to the frame constrained to
**/
CaptureBasePtr getCaptureOther() const { return capture_other_ptr_.lock(); }
- void setCaptureOtherPtr(CaptureBasePtr _cap_o) { capture_other_ptr_ = _cap_o; }
+ void setCaptureOther(CaptureBasePtr _cap_o) { capture_other_ptr_ = _cap_o; }
/** \brief Returns a pointer to the feature constrained to
**/
FeatureBasePtr getFeatureOther() const { return feature_other_ptr_.lock(); }
- void setFeatureOtherPtr(FeatureBasePtr _ftr_o) { feature_other_ptr_ = _ftr_o; }
+ void setFeatureOther(FeatureBasePtr _ftr_o) { feature_other_ptr_ = _ftr_o; }
/** \brief Returns a pointer to the landmark constrained to
**/
LandmarkBasePtr getLandmarkOther() const { return landmark_other_ptr_.lock(); }
- void setLandmarkOtherPtr(LandmarkBasePtr _lmk_o){ landmark_other_ptr_ = _lmk_o; }
+ void setLandmarkOther(LandmarkBasePtr _lmk_o){ landmark_other_ptr_ = _lmk_o; }
/**
* @brief getProcessor
diff --git a/include/base/factor/factor_point_2D.h b/include/base/factor/factor_point_2D.h
index 2034260de..4d9686e38 100644
--- a/include/base/factor/factor_point_2D.h
+++ b/include/base/factor/factor_point_2D.h
@@ -30,11 +30,11 @@ class FactorPoint2D: public FactorAutodiff<FactorPoint2D, 2,2,1,2,1,2>
const ProcessorBasePtr& _processor_ptr,
unsigned int _ftr_point_id, int _lmk_point_id, bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorPoint2D,2,2,1,2,1,2>("POINT 2D",
- nullptr, nullptr, nullptr, _lmk_ptr, _processor_ptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO(), _lmk_ptr->getP(), _lmk_ptr->getO(), _lmk_ptr->getPointStateBlockPtr(_lmk_point_id)),
- feature_point_id_(_ftr_point_id), landmark_point_id_(_lmk_point_id), point_state_ptr_(_lmk_ptr->getPointStateBlockPtr(_lmk_point_id)), measurement_(_ftr_ptr->getPoints().col(_ftr_point_id)), measurement_covariance_(_ftr_ptr->getPointsCov().middleCols(_ftr_point_id*2,2))
+ nullptr, nullptr, nullptr, _lmk_ptr, _processor_ptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO(), _lmk_ptr->getP(), _lmk_ptr->getO(), _lmk_ptr->getPointStateBlock(_lmk_point_id)),
+ feature_point_id_(_ftr_point_id), landmark_point_id_(_lmk_point_id), point_state_ptr_(_lmk_ptr->getPointStateBlock(_lmk_point_id)), measurement_(_ftr_ptr->getPoints().col(_ftr_point_id)), measurement_covariance_(_ftr_ptr->getPointsCov().middleCols(_ftr_point_id*2,2))
{
//std::cout << "Constriant point: feature " << _ftr_ptr->id() << " landmark " << _lmk_ptr->id() << "(point " << _lmk_point_id << ")" << std::endl;
- //std::cout << "landmark state block " << _lmk_ptr->getPointStateBlockPtr(_lmk_point_id)->getVector().transpose() << std::endl;
+ //std::cout << "landmark state block " << _lmk_ptr->getPointStateBlock(_lmk_point_id)->getVector().transpose() << std::endl;
Eigen::LLT<Eigen::MatrixXs> lltOfA(measurement_covariance_); // compute the Cholesky decomposition of A
Eigen::MatrixXs measurement_sqrt_covariance = lltOfA.matrixU();
measurement_sqrt_information_ = measurement_sqrt_covariance.inverse().transpose(); // retrieve factor U in the decomposition
diff --git a/include/base/factor/factor_point_to_line_2D.h b/include/base/factor/factor_point_to_line_2D.h
index e60c8d3c7..d4b891f3e 100644
--- a/include/base/factor/factor_point_to_line_2D.h
+++ b/include/base/factor/factor_point_to_line_2D.h
@@ -31,8 +31,8 @@ class FactorPointToLine2D: public FactorAutodiff<FactorPointToLine2D, 1,2,1,2,1,
unsigned int _ftr_point_id, int _lmk_point_id, int _lmk_point_aux_id,
bool _apply_loss_function = false, FactorStatus _status = FAC_ACTIVE) :
FactorAutodiff<FactorPointToLine2D, 1,2,1,2,1,2,2>("POINT TO LINE 2D",
- nullptr, nullptr, nullptr, _lmk_ptr, _processor_ptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO(), _lmk_ptr->getP(), _lmk_ptr->getO(), _lmk_ptr->getPointStateBlockPtr(_lmk_point_id), _lmk_ptr->getPointStateBlockPtr(_lmk_point_aux_id)),
- landmark_point_id_(_lmk_point_id), landmark_point_aux_id_(_lmk_point_aux_id), feature_point_id_(_ftr_point_id), point_state_ptr_(_lmk_ptr->getPointStateBlockPtr(_lmk_point_id)), point_aux_state_ptr_(_lmk_ptr->getPointStateBlockPtr(_lmk_point_aux_id)), measurement_(_ftr_ptr->getPoints().col(_ftr_point_id)), measurement_covariance_(_ftr_ptr->getPointsCov().middleCols(_ftr_point_id*2,2))
+ nullptr, nullptr, nullptr, _lmk_ptr, _processor_ptr, _apply_loss_function, _status, _ftr_ptr->getFrame()->getP(), _ftr_ptr->getFrame()->getO(), _lmk_ptr->getP(), _lmk_ptr->getO(), _lmk_ptr->getPointStateBlock(_lmk_point_id), _lmk_ptr->getPointStateBlock(_lmk_point_aux_id)),
+ landmark_point_id_(_lmk_point_id), landmark_point_aux_id_(_lmk_point_aux_id), feature_point_id_(_ftr_point_id), point_state_ptr_(_lmk_ptr->getPointStateBlock(_lmk_point_id)), point_aux_state_ptr_(_lmk_ptr->getPointStateBlock(_lmk_point_aux_id)), measurement_(_ftr_ptr->getPoints().col(_ftr_point_id)), measurement_covariance_(_ftr_ptr->getPointsCov().middleCols(_ftr_point_id*2,2))
{
//std::cout << "FactorPointToLine2D" << std::endl;
Eigen::LLT<Eigen::MatrixXs> lltOfA(measurement_covariance_); // compute the Cholesky decomposition of A
diff --git a/include/base/feature/feature_base.h b/include/base/feature/feature_base.h
index df014203d..3732bc552 100644
--- a/include/base/feature/feature_base.h
+++ b/include/base/feature/feature_base.h
@@ -76,7 +76,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
FrameBasePtr getFrame() const;
CaptureBasePtr getCapture() const;
- void setCapturePtr(CaptureBasePtr _cap_ptr){capture_ptr_ = _cap_ptr;}
+ void setCapture(CaptureBasePtr _cap_ptr){capture_ptr_ = _cap_ptr;}
FactorBasePtr addFactor(FactorBasePtr _co_ptr);
FactorBasePtrList& getFactorList();
diff --git a/include/base/frame_base.h b/include/base/frame_base.h
index e6e4c14db..be97eb80a 100644
--- a/include/base/frame_base.h
+++ b/include/base/frame_base.h
@@ -86,17 +86,17 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
const std::vector<StateBlockPtr>& getStateBlockVec() const;
std::vector<StateBlockPtr>& getStateBlockVec();
protected:
- StateBlockPtr getStateBlockPtr(unsigned int _i) const;
- void setStateBlockPtr(unsigned int _i, const StateBlockPtr _sb_ptr);
+ StateBlockPtr getStateBlock(unsigned int _i) const;
+ void setStateBlock(unsigned int _i, const StateBlockPtr _sb_ptr);
void resizeStateBlockVec(unsigned int _size);
public:
StateBlockPtr getP() const;
StateBlockPtr getO() const;
StateBlockPtr getV() const;
- void setPPtr(const StateBlockPtr _p_ptr);
- void setOPtr(const StateBlockPtr _o_ptr);
- void setVPtr(const StateBlockPtr _v_ptr);
+ void setP(const StateBlockPtr _p_ptr);
+ void setO(const StateBlockPtr _o_ptr);
+ void setV(const StateBlockPtr _v_ptr);
void registerNewStateBlocks();
void removeStateBlocks();
@@ -120,7 +120,7 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
virtual void setProblem(ProblemPtr _problem) final;
TrajectoryBasePtr getTrajectory() const;
- void setTrajectoryPtr(TrajectoryBasePtr _trj_ptr);
+ void setTrajectory(TrajectoryBasePtr _trj_ptr);
FrameBasePtr getPreviousFrame() const;
FrameBasePtr getNextFrame() const;
@@ -197,7 +197,7 @@ inline StateBlockPtr FrameBase::getP() const
{
return state_block_vec_[0];
}
-inline void FrameBase::setPPtr(const StateBlockPtr _p_ptr)
+inline void FrameBase::setP(const StateBlockPtr _p_ptr)
{
state_block_vec_[0] = _p_ptr;
}
@@ -206,7 +206,7 @@ inline StateBlockPtr FrameBase::getO() const
{
return state_block_vec_[1];
}
-inline void FrameBase::setOPtr(const StateBlockPtr _o_ptr)
+inline void FrameBase::setO(const StateBlockPtr _o_ptr)
{
state_block_vec_[1] = _o_ptr;
}
@@ -216,18 +216,18 @@ inline StateBlockPtr FrameBase::getV() const
return state_block_vec_[2];
}
-inline void FrameBase::setVPtr(const StateBlockPtr _v_ptr)
+inline void FrameBase::setV(const StateBlockPtr _v_ptr)
{
state_block_vec_[2] = _v_ptr;
}
-inline StateBlockPtr FrameBase::getStateBlockPtr(unsigned int _i) const
+inline StateBlockPtr FrameBase::getStateBlock(unsigned int _i) const
{
assert (_i < state_block_vec_.size() && "Requested a state block pointer out of the vector range!");
return state_block_vec_[_i];
}
-inline void FrameBase::setStateBlockPtr(unsigned int _i, const StateBlockPtr _sb_ptr)
+inline void FrameBase::setStateBlock(unsigned int _i, const StateBlockPtr _sb_ptr)
{
assert (_i < state_block_vec_.size() && "Requested a state block pointer out of the vector range!");
state_block_vec_[_i] = _sb_ptr;
@@ -266,7 +266,7 @@ inline FactorBasePtrList& FrameBase::getConstrainedByList()
return constrained_by_list_;
}
-inline void FrameBase::setTrajectoryPtr(TrajectoryBasePtr _trj_ptr)
+inline void FrameBase::setTrajectory(TrajectoryBasePtr _trj_ptr)
{
trajectory_ptr_ = _trj_ptr;
}
diff --git a/include/base/landmark/landmark_base.h b/include/base/landmark/landmark_base.h
index f12da14aa..9019ee85e 100644
--- a/include/base/landmark/landmark_base.h
+++ b/include/base/landmark/landmark_base.h
@@ -62,12 +62,12 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
const std::vector<StateBlockPtr>& getStateBlockVec() const;
std::vector<StateBlockPtr>& getStateBlockVec();
std::vector<StateBlockPtr> getUsedStateBlockVec() const;
- StateBlockPtr getStateBlockPtr(unsigned int _i) const;
- void setStateBlockPtr(unsigned int _i, StateBlockPtr _sb_ptr);
+ StateBlockPtr getStateBlock(unsigned int _i) const;
+ void setStateBlock(unsigned int _i, StateBlockPtr _sb_ptr);
StateBlockPtr getP() const;
StateBlockPtr getO() const;
- void setPPtr(const StateBlockPtr _p_ptr);
- void setOPtr(const StateBlockPtr _o_ptr);
+ void setP(const StateBlockPtr _p_ptr);
+ void setO(const StateBlockPtr _o_ptr);
virtual void registerNewStateBlocks();
Eigen::VectorXs getState() const;
void getState(Eigen::VectorXs& _state) const;
@@ -90,7 +90,7 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
unsigned int getHits() const;
FactorBasePtrList& getConstrainedByList();
- void setMapPtr(const MapBasePtr _map_ptr);
+ void setMap(const MapBasePtr _map_ptr);
MapBasePtr getMap();
};
@@ -113,7 +113,7 @@ inline MapBasePtr LandmarkBase::getMap()
return map_ptr_.lock();
}
-inline void LandmarkBase::setMapPtr(const MapBasePtr _map_ptr)
+inline void LandmarkBase::setMap(const MapBasePtr _map_ptr)
{
map_ptr_ = _map_ptr;
}
@@ -150,35 +150,35 @@ inline std::vector<StateBlockPtr>& LandmarkBase::getStateBlockVec()
return state_block_vec_;
}
-inline StateBlockPtr LandmarkBase::getStateBlockPtr(unsigned int _i) const
+inline StateBlockPtr LandmarkBase::getStateBlock(unsigned int _i) const
{
assert (_i < state_block_vec_.size() && "Requested a state block pointer out of the vector range!");
return state_block_vec_[_i];
}
-inline void LandmarkBase::setStateBlockPtr(unsigned int _i, StateBlockPtr _sb_ptr)
+inline void LandmarkBase::setStateBlock(unsigned int _i, StateBlockPtr _sb_ptr)
{
state_block_vec_[_i] = _sb_ptr;
}
inline StateBlockPtr LandmarkBase::getP() const
{
- return getStateBlockPtr(0);
+ return getStateBlock(0);
}
inline StateBlockPtr LandmarkBase::getO() const
{
- return getStateBlockPtr(1);
+ return getStateBlock(1);
}
-inline void LandmarkBase::setPPtr(const StateBlockPtr _st_ptr)
+inline void LandmarkBase::setP(const StateBlockPtr _st_ptr)
{
- setStateBlockPtr(0, _st_ptr);
+ setStateBlock(0, _st_ptr);
}
-inline void LandmarkBase::setOPtr(const StateBlockPtr _st_ptr)
+inline void LandmarkBase::setO(const StateBlockPtr _st_ptr)
{
- setStateBlockPtr(1, _st_ptr);
+ setStateBlock(1, _st_ptr);
}
inline void LandmarkBase::setDescriptor(const Eigen::VectorXs& _descriptor)
diff --git a/include/base/landmark/landmark_polyline_2D.h b/include/base/landmark/landmark_polyline_2D.h
index 4414a69f6..d6b5d51f9 100644
--- a/include/base/landmark/landmark_polyline_2D.h
+++ b/include/base/landmark/landmark_polyline_2D.h
@@ -74,7 +74,7 @@ class LandmarkPolyline2D : public LandmarkBase
const Eigen::VectorXs getPointVector(int _i) const;
- StateBlockPtr getPointStateBlockPtr(int _i);
+ StateBlockPtr getPointStateBlock(int _i);
/** \brief Gets a vector of all state blocks pointers
**/
diff --git a/include/base/problem.h b/include/base/problem.h
index d96aae5e2..84b51c2a6 100644
--- a/include/base/problem.h
+++ b/include/base/problem.h
@@ -87,7 +87,7 @@ class Problem : public std::enable_shared_from_this<Problem>
/** \brief get a sensor pointer by its name
* \param _sensor_name The sensor name, as it was installed with installSensor()
*/
- SensorBasePtr getSensorPtr(const std::string& _sensor_name);
+ SensorBasePtr getSensor(const std::string& _sensor_name);
/** \brief Factory method to install (create, and add to sensor) processors only from its properties
*
diff --git a/include/base/processor/processor_base.h b/include/base/processor/processor_base.h
index 88c97e62f..84fee5343 100644
--- a/include/base/processor/processor_base.h
+++ b/include/base/processor/processor_base.h
@@ -184,7 +184,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
SensorBasePtr getSensor();
const SensorBasePtr getSensor() const;
- void setSensorPtr(SensorBasePtr _sen_ptr){sensor_ptr_ = _sen_ptr;}
+ void setSensor(SensorBasePtr _sen_ptr){sensor_ptr_ = _sen_ptr;}
virtual bool isMotion();
diff --git a/include/base/sensor/sensor_base.h b/include/base/sensor/sensor_base.h
index 6b8d9bc1c..64ed42ba2 100644
--- a/include/base/sensor/sensor_base.h
+++ b/include/base/sensor/sensor_base.h
@@ -94,7 +94,7 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
virtual void setProblem(ProblemPtr _problem) final;
HardwareBasePtr getHardware();
- void setHardwarePtr(const HardwareBasePtr _hw_ptr);
+ void setHardware(const HardwareBasePtr _hw_ptr);
ProcessorBasePtr addProcessor(ProcessorBasePtr _proc_ptr);
ProcessorBasePtrList& getProcessorList();
@@ -108,8 +108,8 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
const std::vector<StateBlockPtr>& getStateBlockVec() const;
std::vector<StateBlockPtr>& getStateBlockVec();
StateBlockPtr getStateBlockPtrStatic(unsigned int _i) const;
- StateBlockPtr getStateBlockPtr(unsigned int _i);
- StateBlockPtr getStateBlockPtr(unsigned int _i, const TimeStamp& _ts);
+ StateBlockPtr getStateBlock(unsigned int _i);
+ StateBlockPtr getStateBlock(unsigned int _i, const TimeStamp& _ts);
void setStateBlockPtrStatic(unsigned int _i, const StateBlockPtr _sb_ptr);
void resizeStateBlockVec(unsigned int _size);
@@ -118,15 +118,15 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
bool isStateBlockDynamic(unsigned int _i, const TimeStamp& _ts);
bool isStateBlockDynamic(unsigned int _i);
- StateBlockPtr getPPtr(const TimeStamp _ts);
- StateBlockPtr getOPtr(const TimeStamp _ts);
- StateBlockPtr getIntrinsicPtr(const TimeStamp _ts);
+ StateBlockPtr getP(const TimeStamp _ts);
+ StateBlockPtr getO(const TimeStamp _ts);
+ StateBlockPtr getIntrinsic(const TimeStamp _ts);
StateBlockPtr getP() ;
StateBlockPtr getO();
StateBlockPtr getIntrinsic();
- void setPPtr(const StateBlockPtr _p_ptr);
- void setOPtr(const StateBlockPtr _o_ptr);
- void setIntrinsicPtr(const StateBlockPtr _intr_ptr);
+ void setP(const StateBlockPtr _p_ptr);
+ void setO(const StateBlockPtr _o_ptr);
+ void setIntrinsic(const StateBlockPtr _intr_ptr);
void removeStateBlocks();
void fix();
@@ -263,22 +263,22 @@ inline HardwareBasePtr SensorBase::getHardware()
return hardware_ptr_.lock();
}
-inline void SensorBase::setPPtr(const StateBlockPtr _p_ptr)
+inline void SensorBase::setP(const StateBlockPtr _p_ptr)
{
setStateBlockPtrStatic(0, _p_ptr);
}
-inline void SensorBase::setOPtr(const StateBlockPtr _o_ptr)
+inline void SensorBase::setO(const StateBlockPtr _o_ptr)
{
setStateBlockPtrStatic(1, _o_ptr);
}
-inline void SensorBase::setIntrinsicPtr(const StateBlockPtr _intr_ptr)
+inline void SensorBase::setIntrinsic(const StateBlockPtr _intr_ptr)
{
setStateBlockPtrStatic(2, _intr_ptr);
}
-inline void SensorBase::setHardwarePtr(const HardwareBasePtr _hw_ptr)
+inline void SensorBase::setHardware(const HardwareBasePtr _hw_ptr)
{
hardware_ptr_ = _hw_ptr;
}
diff --git a/include/base/state_block.h b/include/base/state_block.h
index 09811c41e..447e8a0e9 100644
--- a/include/base/state_block.h
+++ b/include/base/state_block.h
@@ -112,7 +112,7 @@ public:
/** \brief Sets a local parametrization
**/
- void setLocalParametrizationPtr(LocalParametrizationBasePtr _local_param);
+ void setLocalParametrization(LocalParametrizationBasePtr _local_param);
/** \brief Removes the state_block local parametrization
**/
@@ -242,7 +242,7 @@ inline void StateBlock::removeLocalParametrization()
local_param_updated_.store(true);
}
-inline void StateBlock::setLocalParametrizationPtr(LocalParametrizationBasePtr _local_param)
+inline void StateBlock::setLocalParametrization(LocalParametrizationBasePtr _local_param)
{
assert(_local_param != nullptr && "setting a null local parametrization");
local_param_ptr_ = _local_param;
diff --git a/include/base/trajectory_base.h b/include/base/trajectory_base.h
index 9150f8fa0..6ceddf9e6 100644
--- a/include/base/trajectory_base.h
+++ b/include/base/trajectory_base.h
@@ -41,7 +41,7 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
FrameBasePtr getLastKeyFrame();
FrameBasePtr findLastKeyFrame();
FrameBasePtr closestKeyFrameToTimeStamp(const TimeStamp& _ts);
- void setLastKeyFramePtr(FrameBasePtr _key_frame_ptr);
+ void setLastKeyFrame(FrameBasePtr _key_frame_ptr);
void sortFrame(FrameBasePtr _frm_ptr);
void moveFrame(FrameBasePtr _frm_ptr, FrameBaseIter _place);
FrameBaseIter computeFrameOrder(FrameBasePtr _frame_ptr);
@@ -66,7 +66,7 @@ inline FrameBasePtr TrajectoryBase::getLastKeyFrame()
return last_key_frame_ptr_;
}
-inline void TrajectoryBase::setLastKeyFramePtr(FrameBasePtr _key_frame_ptr)
+inline void TrajectoryBase::setLastKeyFrame(FrameBasePtr _key_frame_ptr)
{
last_key_frame_ptr_ = _key_frame_ptr;
}
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 86165e450..1d2aa58db 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -99,7 +99,7 @@ FeatureBasePtr CaptureBase::addFeature(FeatureBasePtr _ft_ptr)
{
//std::cout << "Adding feature" << std::endl;
feature_list_.push_back(_ft_ptr);
- _ft_ptr->setCapturePtr(shared_from_this());
+ _ft_ptr->setCapture(shared_from_this());
_ft_ptr->setProblem(getProblem());
return _ft_ptr;
}
@@ -108,7 +108,7 @@ void CaptureBase::addFeatureList(FeatureBasePtrList& _new_ft_list)
{
for (FeatureBasePtr feature_ptr : _new_ft_list)
{
- feature_ptr->setCapturePtr(shared_from_this());
+ feature_ptr->setCapture(shared_from_this());
if (getProblem() != nullptr)
feature_ptr->setProblem(getProblem());
}
@@ -124,11 +124,11 @@ void CaptureBase::getFactorList(FactorBasePtrList& _fac_list)
FactorBasePtr CaptureBase::addConstrainedBy(FactorBasePtr _fac_ptr)
{
constrained_by_list_.push_back(_fac_ptr);
- _fac_ptr->setCaptureOtherPtr(shared_from_this());
+ _fac_ptr->setCaptureOther(shared_from_this());
return _fac_ptr;
}
-StateBlockPtr CaptureBase::getStateBlockPtr(unsigned int _i) const
+StateBlockPtr CaptureBase::getStateBlock(unsigned int _i) const
{
if (getSensor())
{
@@ -168,7 +168,7 @@ void CaptureBase::removeStateBlocks()
{
getProblem()->removeStateBlock(sbp);
}
- setStateBlockPtr(i, nullptr);
+ setStateBlock(i, nullptr);
}
}
}
@@ -177,7 +177,7 @@ void CaptureBase::fix()
{
for (unsigned int i = 0; i<getStateBlockVec().size(); i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->fix();
}
@@ -188,7 +188,7 @@ void CaptureBase::unfix()
{
for (unsigned int i = 0; i<getStateBlockVec().size(); i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->unfix();
}
@@ -199,7 +199,7 @@ void CaptureBase::fixExtrinsics()
{
for (unsigned int i = 0; i < 2; i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->fix();
}
@@ -210,7 +210,7 @@ void CaptureBase::unfixExtrinsics()
{
for (unsigned int i = 0; i < 2; i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->unfix();
}
@@ -221,7 +221,7 @@ void CaptureBase::fixIntrinsics()
{
for (unsigned int i = 2; i < getStateBlockVec().size(); i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->fix();
}
@@ -232,7 +232,7 @@ void CaptureBase::unfixIntrinsics()
{
for (unsigned int i = 2; i < getStateBlockVec().size(); i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
sbp->unfix();
}
@@ -254,7 +254,7 @@ SizeEigen CaptureBase::computeCalibSize() const
SizeEigen sz = 0;
for (unsigned int i = 0; i < state_block_vec_.size(); i++)
{
- auto sb = getStateBlockPtr(i);
+ auto sb = getStateBlock(i);
if (sb && !sb->isFixed())
sz += sb->getSize();
}
@@ -267,7 +267,7 @@ Eigen::VectorXs CaptureBase::getCalibration() const
SizeEigen index = 0;
for (unsigned int i = 0; i < getStateBlockVec().size(); i++)
{
- auto sb = getStateBlockPtr(i);
+ auto sb = getStateBlock(i);
if (sb && !sb->isFixed())
{
calib.segment(index, sb->getSize()) = sb->getState();
@@ -284,7 +284,7 @@ void CaptureBase::setCalibration(const VectorXs& _calib)
SizeEigen index = 0;
for (unsigned int i = 0; i < getStateBlockVec().size(); i++)
{
- auto sb = getStateBlockPtr(i);
+ auto sb = getStateBlock(i);
if (sb && !sb->isFixed())
{
sb->setState(_calib.segment(index, sb->getSize()));
diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp
index 59d98814f..5dde0e16a 100644
--- a/src/examples/test_factor_imu.cpp
+++ b/src/examples/test_factor_imu.cpp
@@ -54,7 +54,7 @@ int main(int argc, char** argv)
// Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
CaptureIMUPtr imu_ptr( std::make_shared<CaptureIMU>(t, sensor_ptr, data_, Eigen::Matrix6s::Identity()) );
- imu_ptr->setFramePtr(wolf_problem_ptr_->getTrajectory()->getFrameList().back());
+ imu_ptr->setFrame(wolf_problem_ptr_->getTrajectory()->getFrameList().back());
// set variables
using namespace std;
@@ -87,7 +87,7 @@ int main(int argc, char** argv)
delta_preint_cov = wolf_problem_ptr_->getProcessorMotion()->getCurrentDeltaPreintCov();
delta_preint = wolf_problem_ptr_->getProcessorMotion()->getMotion().delta_integr_;
std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
- feat_imu->setCapturePtr(imu_ptr);
+ feat_imu->setCapture(imu_ptr);
//create a factorIMU
FactorIMUPtr factor_imu = std::make_shared<FactorIMU>(feat_imu, last_frame);
@@ -115,7 +115,7 @@ int main(int argc, char** argv)
//reset origin of motion to new frame
wolf_problem_ptr_->getProcessorMotion()->setOrigin(last_frame);
- imu_ptr->setFramePtr(last_frame);
+ imu_ptr->setFrame(last_frame);
}
/// ******************************************************************************************** ///
@@ -148,7 +148,7 @@ int main(int argc, char** argv)
delta_preint_cov = wolf_problem_ptr_->getProcessorMotion()->getCurrentDeltaPreintCov();
delta_preint = wolf_problem_ptr_->getProcessorMotion()->getMotion().delta_integr_;
std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
- feat_imu->setCapturePtr(imu_ptr);
+ feat_imu->setCapture(imu_ptr);
//create a factorIMU
FactorIMUPtr factor_imu = std::make_shared<FactorIMU>(feat_imu, last_frame);
@@ -176,7 +176,7 @@ int main(int argc, char** argv)
//reset origin of motion to new frame
wolf_problem_ptr_->getProcessorMotion()->setOrigin(last_frame);
- imu_ptr->setFramePtr(last_frame);
+ imu_ptr->setFrame(last_frame);
}
mpu_clock = 0.004046;
@@ -206,7 +206,7 @@ int main(int argc, char** argv)
delta_preint_cov = wolf_problem_ptr_->getProcessorMotion()->getCurrentDeltaPreintCov();
delta_preint = wolf_problem_ptr_->getProcessorMotion()->getMotion().delta_integr_;
std::shared_ptr<FeatureIMU> feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
- feat_imu->setCapturePtr(imu_ptr);
+ feat_imu->setCapture(imu_ptr);
//create a factorIMU
FactorIMUPtr factor_imu = std::make_shared<FactorIMU>(feat_imu, last_frame);
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index e9a2af536..7dedb1200 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -32,7 +32,7 @@ void print(MapBase& _map)
std::cout << "\nFirst def: " << poly_ptr->isFirstDefined();
std::cout << "\nLast def: " << poly_ptr->isLastDefined();
for (int idx = poly_ptr->getFirstId(); idx <= poly_ptr->getLastId(); idx++)
- std::cout << "\n point: " << idx << ": " << poly_ptr->getPointStateBlockPtr(idx)->getState().transpose();
+ std::cout << "\n point: " << idx << ": " << poly_ptr->getPointStateBlock(idx)->getState().transpose();
break;
}
else if (lmk_ptr->getType() == "AHP")
diff --git a/src/feature/feature_IMU.cpp b/src/feature/feature_IMU.cpp
index 0f811cff5..b35baf2d0 100644
--- a/src/feature/feature_IMU.cpp
+++ b/src/feature/feature_IMU.cpp
@@ -13,7 +13,7 @@ FeatureIMU::FeatureIMU(const Eigen::VectorXs& _delta_preintegrated,
jacobian_bias_(_dD_db_jacobians)
{
if (_cap_imu_ptr)
- this->setCapturePtr(_cap_imu_ptr);
+ this->setCapture(_cap_imu_ptr);
}
FeatureIMU::FeatureIMU(CaptureMotionPtr _cap_imu_ptr):
@@ -22,7 +22,7 @@ FeatureIMU::FeatureIMU(CaptureMotionPtr _cap_imu_ptr):
gyro_bias_preint_(_cap_imu_ptr->getCalibrationPreint().tail<3>()),
jacobian_bias_(_cap_imu_ptr->getJacobianCalib())
{
- this->setCapturePtr(_cap_imu_ptr);
+ this->setCapture(_cap_imu_ptr);
}
FeatureIMU::~FeatureIMU()
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index 39061dea5..b47c956b9 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -54,7 +54,7 @@ void FeatureBase::remove()
FactorBasePtr FeatureBase::addFactor(FactorBasePtr _co_ptr)
{
factor_list_.push_back(_co_ptr);
- _co_ptr->setFeaturePtr(shared_from_this());
+ _co_ptr->setFeature(shared_from_this());
_co_ptr->setProblem(getProblem());
// add factor to be added in solver
if (getProblem() != nullptr)
@@ -75,7 +75,7 @@ FrameBasePtr FeatureBase::getFrame() const
FactorBasePtr FeatureBase::addConstrainedBy(FactorBasePtr _fac_ptr)
{
constrained_by_list_.push_back(_fac_ptr);
- _fac_ptr->setFeatureOtherPtr(shared_from_this());
+ _fac_ptr->setFeatureOther(shared_from_this());
return _fac_ptr;
}
diff --git a/src/frame_base.cpp b/src/frame_base.cpp
index fcf542af5..ccd51dc7f 100644
--- a/src/frame_base.cpp
+++ b/src/frame_base.cpp
@@ -72,7 +72,7 @@ void FrameBase::remove()
removeStateBlocks();
if (getTrajectory()->getLastKeyFrame()->id() == this_F->id())
- getTrajectory()->setLastKeyFramePtr(getTrajectory()->findLastKeyFrame());
+ getTrajectory()->setLastKeyFrame(getTrajectory()->findLastKeyFrame());
// std::cout << "Removed F" << id() << std::endl;
}
@@ -99,14 +99,14 @@ void FrameBase::removeStateBlocks()
{
for (unsigned int i = 0; i < state_block_vec_.size(); i++)
{
- StateBlockPtr sbp = getStateBlockPtr(i);
+ StateBlockPtr sbp = getStateBlock(i);
if (sbp != nullptr)
{
if (getProblem() != nullptr)
{
getProblem()->removeStateBlock(sbp);
}
- setStateBlockPtr(i, nullptr);
+ setStateBlock(i, nullptr);
}
}
}
@@ -119,7 +119,7 @@ void FrameBase::setKey()
registerNewStateBlocks();
if (getTrajectory()->getLastKeyFrame() == nullptr || getTrajectory()->getLastKeyFrame()->getTimeStamp() < time_stamp_)
- getTrajectory()->setLastKeyFramePtr(shared_from_this());
+ getTrajectory()->setLastKeyFrame(shared_from_this());
getTrajectory()->sortFrame(shared_from_this());
@@ -279,7 +279,7 @@ FrameBasePtr FrameBase::getNextFrame() const
CaptureBasePtr FrameBase::addCapture(CaptureBasePtr _capt_ptr)
{
capture_list_.push_back(_capt_ptr);
- _capt_ptr->setFramePtr(shared_from_this());
+ _capt_ptr->setFrame(shared_from_this());
_capt_ptr->setProblem(getProblem());
_capt_ptr->registerNewStateBlocks();
return _capt_ptr;
@@ -341,7 +341,7 @@ void FrameBase::getFactorList(FactorBasePtrList& _fac_list)
FactorBasePtr FrameBase::addConstrainedBy(FactorBasePtr _fac_ptr)
{
constrained_by_list_.push_back(_fac_ptr);
- _fac_ptr->setFrameOtherPtr(shared_from_this());
+ _fac_ptr->setFrameOther(shared_from_this());
return _fac_ptr;
}
diff --git a/src/hardware_base.cpp b/src/hardware_base.cpp
index 334900512..945b412c8 100644
--- a/src/hardware_base.cpp
+++ b/src/hardware_base.cpp
@@ -18,7 +18,7 @@ SensorBasePtr HardwareBase::addSensor(SensorBasePtr _sensor_ptr)
{
sensor_list_.push_back(_sensor_ptr);
_sensor_ptr->setProblem(getProblem());
- _sensor_ptr->setHardwarePtr(shared_from_this());
+ _sensor_ptr->setHardware(shared_from_this());
_sensor_ptr->registerNewStateBlocks();
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 48f66967c..d1fb63043 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -108,14 +108,14 @@ void LandmarkBase::removeStateBlocks()
{
for (unsigned int i = 0; i < state_block_vec_.size(); i++)
{
- auto sbp = getStateBlockPtr(i);
+ auto sbp = getStateBlock(i);
if (sbp != nullptr)
{
if (getProblem() != nullptr)
{
getProblem()->removeStateBlock(sbp);
}
- setStateBlockPtr(i, nullptr);
+ setStateBlock(i, nullptr);
}
}
}
@@ -173,7 +173,7 @@ YAML::Node LandmarkBase::saveToYaml() const
FactorBasePtr LandmarkBase::addConstrainedBy(FactorBasePtr _fac_ptr)
{
constrained_by_list_.push_back(_fac_ptr);
- _fac_ptr->setLandmarkOtherPtr(shared_from_this());
+ _fac_ptr->setLandmarkOther(shared_from_this());
return _fac_ptr;
}
diff --git a/src/landmark/landmark_polyline_2D.cpp b/src/landmark/landmark_polyline_2D.cpp
index b31117566..d7c5c7d76 100644
--- a/src/landmark/landmark_polyline_2D.cpp
+++ b/src/landmark/landmark_polyline_2D.cpp
@@ -26,9 +26,9 @@ LandmarkPolyline2D::LandmarkPolyline2D(StateBlockPtr _p_ptr, StateBlockPtr _o_pt
point_state_ptr_vector_.push_back(std::make_shared<StateBlock>(_points.col(i).head<2>()));
if (!first_defined_)
- point_state_ptr_vector_.front()->setLocalParametrizationPtr(std::make_shared<LocalParametrizationPolylineExtreme>(point_state_ptr_vector_[1]));
+ point_state_ptr_vector_.front()->setLocalParametrization(std::make_shared<LocalParametrizationPolylineExtreme>(point_state_ptr_vector_[1]));
if (!last_defined_)
- point_state_ptr_vector_.back()->setLocalParametrizationPtr(std::make_shared<LocalParametrizationPolylineExtreme>(point_state_ptr_vector_[point_state_ptr_vector_.size() - 2]));
+ point_state_ptr_vector_.back()->setLocalParametrization(std::make_shared<LocalParametrizationPolylineExtreme>(point_state_ptr_vector_[point_state_ptr_vector_.size() - 2]));
assert(point_state_ptr_vector_.front()->hasLocalParametrization() ? !first_defined_ : first_defined_);
assert(point_state_ptr_vector_.back()->hasLocalParametrization() ? !last_defined_ : last_defined_);
@@ -67,7 +67,7 @@ const Eigen::VectorXs LandmarkPolyline2D::getPointVector(int _i) const
return point_state_ptr_vector_[_i-first_id_]->getState();
}
-StateBlockPtr LandmarkPolyline2D::getPointStateBlockPtr(int _i)
+StateBlockPtr LandmarkPolyline2D::getPointStateBlock(int _i)
{
assert(_i-first_id_ >= 0 && _i-first_id_ <= (int)(point_state_ptr_vector_.size()) && "out of range!");
return point_state_ptr_vector_[_i-first_id_];
@@ -230,7 +230,7 @@ void LandmarkPolyline2D::mergePoints(int _remove_id, int _remain_id)
assert(_remain_id < getLastId() || last_defined_);
// take a defined extreme as remaining
- StateBlockPtr remove_state = getPointStateBlockPtr(_remove_id);
+ StateBlockPtr remove_state = getPointStateBlock(_remove_id);
std::cout << "state block to remove " << remove_state->getState().transpose() << std::endl;
// Change factors from remove_state to remain_state
diff --git a/src/map_base.cpp b/src/map_base.cpp
index fdfbf11fb..d1ad03121 100644
--- a/src/map_base.cpp
+++ b/src/map_base.cpp
@@ -30,7 +30,7 @@ MapBase::~MapBase()
LandmarkBasePtr MapBase::addLandmark(LandmarkBasePtr _landmark_ptr)
{
landmark_list_.push_back(_landmark_ptr);
- _landmark_ptr->setMapPtr(shared_from_this());
+ _landmark_ptr->setMap(shared_from_this());
_landmark_ptr->setProblem(getProblem());
_landmark_ptr->registerNewStateBlocks();
return _landmark_ptr;
@@ -41,7 +41,7 @@ void MapBase::addLandmarkList(LandmarkBasePtrList& _landmark_list)
LandmarkBasePtrList lmk_list_copy = _landmark_list; //since _landmark_list will be empty after addDownNodeList()
for (LandmarkBasePtr landmark_ptr : lmk_list_copy)
{
- landmark_ptr->setMapPtr(shared_from_this());
+ landmark_ptr->setMap(shared_from_this());
landmark_ptr->setProblem(getProblem());
landmark_ptr->registerNewStateBlocks();
}
diff --git a/src/problem.cpp b/src/problem.cpp
index c410886af..b9cd0a1e6 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -141,7 +141,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
const std::string& _corresponding_sensor_name, //
const std::string& _params_filename)
{
- SensorBasePtr sen_ptr = getSensorPtr(_corresponding_sensor_name);
+ SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
throw std::runtime_error("Sensor not found. Cannot bind Processor.");
if (_params_filename == "")
@@ -154,7 +154,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
}
}
-SensorBasePtr Problem::getSensorPtr(const std::string& _sensor_name)
+SensorBasePtr Problem::getSensor(const std::string& _sensor_name)
{
auto sen_it = std::find_if(getHardware()->getSensorList().begin(),
getHardware()->getSensorList().end(),
@@ -746,7 +746,7 @@ void Problem::print(int depth, bool constr_by, bool metric, bool state_blocks)
{
if (i==0) cout << " Extr " << (S->isExtrinsicDynamic() ? "[Dyn]" : "[Sta]") << " = [";
if (i==2) cout << " Intr " << (S->isIntrinsicDynamic() ? "[Dyn]" : "[Sta]") << " = [";
- auto sb = S->getStateBlockPtr(i);
+ auto sb = S->getStateBlock(i);
if (sb)
{
cout << (sb->isFixed() ? " Fix( " : " Est( ") << sb->getState().transpose() << " )";
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 4798ead84..ef5cbb1cd 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -63,7 +63,7 @@ void ProcessorMotion::splitBuffer(const wolf::CaptureMotionPtr& _capture_source,
}
// Update the existing capture
- _capture_source->setOriginFramePtr(_keyframe_target);
+ _capture_source->setOriginFrame(_keyframe_target);
// re-integrate existing buffer -- note: the result of re-integration is stored in the same buffer!
reintegrateBuffer(_capture_source);
diff --git a/src/processor/processor_tracker_landmark_polyline.cpp b/src/processor/processor_tracker_landmark_polyline.cpp
index a8037d037..c3f91c027 100644
--- a/src/processor/processor_tracker_landmark_polyline.cpp
+++ b/src/processor/processor_tracker_landmark_polyline.cpp
@@ -969,21 +969,21 @@ void ProcessorTrackerLandmarkPolyline::classifyPolilines(LandmarkBasePtrList& _l
// Fix polyline points to its respective relative positions
if (configuration)
{
- polyline_ptr->getPointStateBlockPtr(A_id)->setState(Eigen::Vector2s(object_L[classification], 0));
- polyline_ptr->getPointStateBlockPtr(B_id)->setState(Eigen::Vector2s(0, 0));
- polyline_ptr->getPointStateBlockPtr(C_id)->setState(Eigen::Vector2s(0, object_W[classification]));
- polyline_ptr->getPointStateBlockPtr(D_id)->setState(Eigen::Vector2s(object_L[classification], object_W[classification]));
+ polyline_ptr->getPointStateBlock(A_id)->setState(Eigen::Vector2s(object_L[classification], 0));
+ polyline_ptr->getPointStateBlock(B_id)->setState(Eigen::Vector2s(0, 0));
+ polyline_ptr->getPointStateBlock(C_id)->setState(Eigen::Vector2s(0, object_W[classification]));
+ polyline_ptr->getPointStateBlock(D_id)->setState(Eigen::Vector2s(object_L[classification], object_W[classification]));
}
else
{
- polyline_ptr->getPointStateBlockPtr(A_id)->setState(Eigen::Vector2s(0, 0));
- polyline_ptr->getPointStateBlockPtr(B_id)->setState(Eigen::Vector2s(0, object_W[classification]));
- polyline_ptr->getPointStateBlockPtr(C_id)->setState(Eigen::Vector2s(object_L[classification], object_W[classification]));
- polyline_ptr->getPointStateBlockPtr(D_id)->setState(Eigen::Vector2s(object_L[classification], 0));
+ polyline_ptr->getPointStateBlock(A_id)->setState(Eigen::Vector2s(0, 0));
+ polyline_ptr->getPointStateBlock(B_id)->setState(Eigen::Vector2s(0, object_W[classification]));
+ polyline_ptr->getPointStateBlock(C_id)->setState(Eigen::Vector2s(object_L[classification], object_W[classification]));
+ polyline_ptr->getPointStateBlock(D_id)->setState(Eigen::Vector2s(object_L[classification], 0));
}
for (auto id = polyline_ptr->getFirstId(); id <= polyline_ptr->getLastId(); id++)
{
- polyline_ptr->getPointStateBlockPtr(id)->fix();
+ polyline_ptr->getPointStateBlock(id)->fix();
}
}
}
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index dd821901c..a30f777fc 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -260,34 +260,34 @@ CaptureBasePtr SensorBase::lastCapture(const TimeStamp& _ts)
return capture;
}
-StateBlockPtr SensorBase::getPPtr(const TimeStamp _ts)
+StateBlockPtr SensorBase::getP(const TimeStamp _ts)
{
- return getStateBlockPtr(0, _ts);
+ return getStateBlock(0, _ts);
}
-StateBlockPtr SensorBase::getOPtr(const TimeStamp _ts)
+StateBlockPtr SensorBase::getO(const TimeStamp _ts)
{
- return getStateBlockPtr(1, _ts);
+ return getStateBlock(1, _ts);
}
-StateBlockPtr SensorBase::getIntrinsicPtr(const TimeStamp _ts)
+StateBlockPtr SensorBase::getIntrinsic(const TimeStamp _ts)
{
- return getStateBlockPtr(2, _ts);
+ return getStateBlock(2, _ts);
}
StateBlockPtr SensorBase::getP()
{
- return getStateBlockPtr(0);
+ return getStateBlock(0);
}
StateBlockPtr SensorBase::getO()
{
- return getStateBlockPtr(1);
+ return getStateBlock(1);
}
StateBlockPtr SensorBase::getIntrinsic()
{
- return getStateBlockPtr(2);
+ return getStateBlock(2);
}
SizeEigen SensorBase::computeCalibSize() const
@@ -321,7 +321,7 @@ Eigen::VectorXs SensorBase::getCalibration() const
bool SensorBase::process(const CaptureBasePtr capture_ptr)
{
- capture_ptr->setSensorPtr(shared_from_this());
+ capture_ptr->setSensor(shared_from_this());
for (const auto processor : processor_list_)
{
@@ -334,27 +334,27 @@ bool SensorBase::process(const CaptureBasePtr capture_ptr)
ProcessorBasePtr SensorBase::addProcessor(ProcessorBasePtr _proc_ptr)
{
processor_list_.push_back(_proc_ptr);
- _proc_ptr->setSensorPtr(shared_from_this());
+ _proc_ptr->setSensor(shared_from_this());
_proc_ptr->setProblem(getProblem());
return _proc_ptr;
}
-StateBlockPtr SensorBase::getStateBlockPtr(unsigned int _i)
+StateBlockPtr SensorBase::getStateBlock(unsigned int _i)
{
CaptureBasePtr cap;
if (isStateBlockDynamic(_i, cap))
- return cap->getStateBlockPtr(_i);
+ return cap->getStateBlock(_i);
return getStateBlockPtrStatic(_i);
}
-StateBlockPtr SensorBase::getStateBlockPtr(unsigned int _i, const TimeStamp& _ts)
+StateBlockPtr SensorBase::getStateBlock(unsigned int _i, const TimeStamp& _ts)
{
CaptureBasePtr cap;
if (isStateBlockDynamic(_i, _ts, cap))
- return cap->getStateBlockPtr(_i);
+ return cap->getStateBlock(_i);
return getStateBlockPtrStatic(_i);
}
diff --git a/src/state_block.cpp b/src/state_block.cpp
index 46411e7c3..b4427c2aa 100644
--- a/src/state_block.cpp
+++ b/src/state_block.cpp
@@ -33,7 +33,7 @@ void StateBlock::setFixed(bool _fixed)
//
//void StateBlock::removeFromProblem(ProblemPtr _problem_ptr)
//{
-// _problem_ptr->removeStateBlockPtr(shared_from_this());
+// _problem_ptr->removeStateBlock(shared_from_this());
//}
}
diff --git a/src/track_matrix.cpp b/src/track_matrix.cpp
index 54c2bd50b..50ab80891 100644
--- a/src/track_matrix.cpp
+++ b/src/track_matrix.cpp
@@ -50,7 +50,7 @@ void TrackMatrix::add(size_t _track_id, CaptureBasePtr _cap, FeatureBasePtr _ftr
_ftr->setTrackId(_track_id);
if (_cap != _ftr->getCapture())
- _ftr->setCapturePtr(_cap);
+ _ftr->setCapture(_cap);
tracks_[_track_id].emplace(_cap->getTimeStamp(), _ftr);
snapshots_[_cap->id()].emplace(_track_id, _ftr); // will create new snapshot if _cap_id is not present
}
diff --git a/src/trajectory_base.cpp b/src/trajectory_base.cpp
index cf01f2d78..5820b99ba 100644
--- a/src/trajectory_base.cpp
+++ b/src/trajectory_base.cpp
@@ -19,7 +19,7 @@ TrajectoryBase::~TrajectoryBase()
FrameBasePtr TrajectoryBase::addFrame(FrameBasePtr _frame_ptr)
{
// link up
- _frame_ptr->setTrajectoryPtr(shared_from_this());
+ _frame_ptr->setTrajectory(shared_from_this());
_frame_ptr->setProblem(getProblem());
if (_frame_ptr->isKey())
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index b6f183675..71217c8e6 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -107,7 +107,7 @@ TEST(CaptureBase, process)
SensorBasePtr S(std::make_shared<SensorBase>("DUMMY", nullptr, nullptr, nullptr, 2));
CaptureBasePtr C(std::make_shared<CaptureBase>("DUMMY", 1.5, nullptr));
ASSERT_DEATH({C->process();},""); // No sensor in the capture should fail
- C->setSensorPtr(S);
+ C->setSensor(S);
ASSERT_TRUE(C->process()); // This should not fail (although it does nothing)
}
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 3f92fc087..cbe91a6fd 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -462,7 +462,7 @@ TEST(CeresManager, AddStateBlockLocalParam)
// Local param
LocalParametrizationBasePtr local_param_ptr = std::make_shared<LocalParametrizationAngle>();
- sb_ptr->setLocalParametrizationPtr(local_param_ptr);
+ sb_ptr->setLocalParametrization(local_param_ptr);
// add stateblock
P->addStateBlock(sb_ptr);
@@ -489,7 +489,7 @@ TEST(CeresManager, RemoveLocalParam)
// Local param
LocalParametrizationBasePtr local_param_ptr = std::make_shared<LocalParametrizationAngle>();
- sb_ptr->setLocalParametrizationPtr(local_param_ptr);
+ sb_ptr->setLocalParametrization(local_param_ptr);
// add stateblock
P->addStateBlock(sb_ptr);
@@ -530,7 +530,7 @@ TEST(CeresManager, AddLocalParam)
// Local param
LocalParametrizationBasePtr local_param_ptr = std::make_shared<LocalParametrizationAngle>();
- sb_ptr->setLocalParametrizationPtr(local_param_ptr);
+ sb_ptr->setLocalParametrization(local_param_ptr);
// update solver
ceres_manager_ptr->update();
@@ -611,7 +611,7 @@ TEST(CeresManager, FactorsUpdateLocalParam)
// remove local param
LocalParametrizationBasePtr local_param_ptr = std::make_shared<LocalParametrizationQuaternionGlobal>();
- F->getO()->setLocalParametrizationPtr(local_param_ptr);
+ F->getO()->setLocalParametrization(local_param_ptr);
// update solver
ceres_manager_ptr->update();
diff --git a/test/gtest_feature_IMU.cpp b/test/gtest_feature_IMU.cpp
index 2e8245e15..82828c6c2 100644
--- a/test/gtest_feature_IMU.cpp
+++ b/test/gtest_feature_IMU.cpp
@@ -61,7 +61,7 @@ class FeatureIMU_test : public testing::Test
// Create one capture to store the IMU data arriving from (sensor / callback / file / etc.)
// give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
imu_ptr = std::make_shared<CaptureIMU>(t, sensor_ptr, data_, Eigen::Matrix6s::Identity(), Eigen::Vector6s::Zero());
- imu_ptr->setFramePtr(origin_frame); //to get ptr to Frm in processorIMU and then get biases
+ imu_ptr->setFrame(origin_frame); //to get ptr to Frm in processorIMU and then get biases
//process data
data_ << 2, 0, 9.8, 0, 0, 0;
@@ -90,7 +90,7 @@ class FeatureIMU_test : public testing::Test
calib_preint,
dD_db_jacobians,
imu_ptr);
- feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
+ feat_imu->setCapture(imu_ptr); //associate the feature to a capture
}
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index a3e18e59c..425f6a96b 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -148,7 +148,7 @@ TEST(ProcessorFrameNearestNeighborFilter, PointInEllipseRotated)
1.2,
sensor_ptr);
// Make 3rd frame last Keyframe
- problem->getTrajectory()->setLastKeyFramePtr(F3);
+ problem->getTrajectory()->setLastKeyFrame(F3);
// trigger search for loopclosure
processor_ptr_point2d->process(incomming_dummy);
@@ -181,7 +181,7 @@ TEST(ProcessorFrameNearestNeighborFilter, EllipseEllipseRotatedCrosscovariance)
position_covariance_matrix);
// Make 3rd frame last Keyframe
- problem->getTrajectory()->setLastKeyFramePtr(F3);
+ problem->getTrajectory()->setLastKeyFrame(F3);
// trigger search for loopclosure
processor_ptr_ellipse2d->process(incomming_dummy);
@@ -193,7 +193,7 @@ TEST(ProcessorFrameNearestNeighborFilter, EllipseEllipseRotatedCrosscovariance)
ASSERT_EQ(testloops[1]->id(), (unsigned int) 2);
// Make 4th frame last Keyframe
- problem->getTrajectory()->setLastKeyFramePtr(F4);
+ problem->getTrajectory()->setLastKeyFrame(F4);
// trigger search for loopclosure again
processor_ptr_ellipse2d->process(incomming_dummy);
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index b6b5f2b85..04c7e6d7a 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -263,7 +263,7 @@ TEST(SolverManager, AddUpdateLocalParamStateBlock)
// Local param
LocalParametrizationBasePtr local_ptr = std::make_shared<LocalParametrizationAngle>();
- sb_ptr->setLocalParametrizationPtr(local_ptr);
+ sb_ptr->setLocalParametrization(local_ptr);
// Fix state block
sb_ptr->fix();
@@ -298,7 +298,7 @@ TEST(SolverManager, AddLocalParamRemoveLocalParamStateBlock)
// Local param
LocalParametrizationBasePtr local_ptr = std::make_shared<LocalParametrizationAngle>();
- sb_ptr->setLocalParametrizationPtr(local_ptr);
+ sb_ptr->setLocalParametrization(local_ptr);
// check flags
ASSERT_FALSE(sb_ptr->stateUpdated());
diff --git a/wolf_scripts/substitution.sh b/wolf_scripts/substitution.sh
index 3085c1f82..04ebdd6be 100755
--- a/wolf_scripts/substitution.sh
+++ b/wolf_scripts/substitution.sh
@@ -10,7 +10,8 @@ for file in $(ag 'Ptr\(' . -o); do
# subs_line=${line}s/${subs}/${subs%List}PtrList/gp
# echo $subs_line
# sed -n -e $line's/Ptr\( \)*(\( \)*)/\1(\2)/gp' $target
- sed -i -e $line's/Ptr\( \)*(\( \)*)/\1(\2)/g' $target
+ # sed -n -e $line's/Ptr\( \)*(\( \)*)/\1(\2)/gp' $target
+ sed -i -e $line's/(/(/g' $target
done
# for file in $(ag -l -g constraint $folder); do
--
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