diff --git a/demos/hello_wolf/hello_wolf.cpp b/demos/hello_wolf/hello_wolf.cpp
index 2b68ab2ac01bdc47a239dc2541713840f8b3358d..f5dfde2389fe74c81a949592688a052af275f36a 100644
--- a/demos/hello_wolf/hello_wolf.cpp
+++ b/demos/hello_wolf/hello_wolf.cpp
@@ -110,16 +110,16 @@ int main()
// Wolf problem and solver
ProblemPtr problem = Problem::create("PO", 2);
YAML::Node params_solver;
- params_solver["period"] = 1;
- params_solver["verbose"] = 2;
+ params_solver["period"] = 1;
+ params_solver["verbose"] = 2;
params_solver["interrupt_on_problem_change"] = false;
- params_solver["max_num_iterations"] = 1000;
- params_solver["n_threads"] = 2;
- params_solver["function_tolerance"] = 0.000001;
- params_solver["gradient_tolerance"] = 0.0000000001;
- params_solver["minimizer"] = "LEVENBERG_MARQUARDT";
- params_solver["use_nonmonotonic_steps"] = false;
- params_solver["compute_cov"] = false;
+ params_solver["max_num_iterations"] = 1000;
+ params_solver["n_threads"] = 2;
+ params_solver["function_tolerance"] = 0.000001;
+ params_solver["gradient_tolerance"] = 0.0000000001;
+ params_solver["minimizer"] = "LEVENBERG_MARQUARDT";
+ params_solver["use_nonmonotonic_steps"] = false;
+ params_solver["compute_cov"] = false;
SolverCeresPtr ceres = std::static_pointer_cast<SolverCeres>(SolverCeres::create(problem, params_solver));
// sensor odometer 2d
diff --git a/demos/hello_wolf/hello_wolf_autoconf.cpp b/demos/hello_wolf/hello_wolf_autoconf.cpp
index 1399367da99229aa5c16f639c8b02292080ff21f..d1a65b2d5217798e66d4831f5c766523274b9398 100644
--- a/demos/hello_wolf/hello_wolf_autoconf.cpp
+++ b/demos/hello_wolf/hello_wolf_autoconf.cpp
@@ -125,7 +125,8 @@ int main()
problem->print(4, 0, 1, 0);
// Solver. Configure a Ceres solver
- SolverManagerPtr ceres = FactorySolverNode::create("SolverCeres", problem, server.getNode()["solver"],{wolf_path});
+ SolverManagerPtr ceres =
+ FactorySolverNode::create("SolverCeres", problem, server.getNode()["solver"], {wolf_path});
// recover sensor pointers and other stuff for later use (access by sensor name)
SensorBasePtr sensor_odo = problem->findSensor("sen odom");
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index a1d0a53083e2e488143120c46c690a4c4e840d21..44c6bbccc6d3e807b9fb94c9de09922221127e26 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -95,7 +95,7 @@ namespace wolf
{ \
auto server = yaml_schema_cpp::YamlServer(_folders_schema); \
server.setYaml(_input_node); \
- if (not server.applySchema(#ProcessorClass + toString(Dim) + "d")) \
+ if (not server.applySchema(#ProcessorClass + toString(Dim) + "d")) \
{ \
throw std::runtime_error(server.getLog()); \
} \
@@ -106,7 +106,7 @@ namespace wolf
const std::vector<std::string>& _folders_schema) \
{ \
auto server = yaml_schema_cpp::YamlServer(_folders_schema, _yaml_filepath); \
- if (not server.applySchema(#ProcessorClass + toString(Dim) + "d")) \
+ if (not server.applySchema(#ProcessorClass + toString(Dim) + "d")) \
{ \
throw std::runtime_error(server.getLog()); \
} \
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 94ed373177c0340daa7e45d0dfdc3aa0d9dc6cae..2ec64bcb723c6aefe60f8586603134bdf7933059 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -89,7 +89,7 @@ namespace wolf
{ \
auto server = yaml_schema_cpp::YamlServer(_folders_schema); \
server.setYaml(_input_node); \
- if (not server.applySchema(#SensorClass + toString(Dim) + "d")) \
+ if (not server.applySchema(#SensorClass + toString(Dim) + "d")) \
{ \
throw std::runtime_error(server.getLog()); \
} \
@@ -101,7 +101,7 @@ namespace wolf
static SensorBasePtr create(const std::string& _yaml_filepath, const std::vector<std::string>& _folders_schema) \
{ \
auto server = yaml_schema_cpp::YamlServer(_folders_schema, _yaml_filepath); \
- if (not server.applySchema(#SensorClass + toString(Dim) + "d")) \
+ if (not server.applySchema(#SensorClass + toString(Dim) + "d")) \
{ \
throw std::runtime_error(server.getLog()); \
} \
diff --git a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
index 9b95310e4382bf5d8e8197a8ba4b21bfc4639f99..fc77e1374dc82a9aaf1e97f8e00700306549488d 100644
--- a/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
+++ b/include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
@@ -38,7 +38,7 @@ class TreeManagerSlidingWindowDualRate : public TreeManagerSlidingWindow
void keyFrameCallback(FrameBasePtr _frame) override;
protected:
- unsigned int count_frames_; ///< counter of frames
+ unsigned int count_frames_; ///< counter of frames
// PARAMS
unsigned int n_frames_recent_;
diff --git a/include/core/utils/string_utils.h b/include/core/utils/string_utils.h
index 66d397985b842f9ba2e06da37412d8a6a0d7a85d..a5ad22f67d5e8d138ee952901a23649dc194ae99 100644
--- a/include/core/utils/string_utils.h
+++ b/include/core/utils/string_utils.h
@@ -28,7 +28,6 @@
namespace wolf
{
-
// date now in string
std::string dateTimeNow();
@@ -44,7 +43,7 @@ std::string toString(float _arg);
std::string toString(double _arg);
std::string toString(long double _arg);
-template<typename Derived>
+template <typename Derived>
std::string toString(const Eigen::DenseBase<Derived>& mat)
{
std::stringstream ss;
diff --git a/src/ceres_wrapper/solver_ceres.cpp b/src/ceres_wrapper/solver_ceres.cpp
index c75b397249b115f51485abbedfb6c95b32807b4d..dc00901999032bc39d1bf4b9cc167ac69d46e07e 100644
--- a/src/ceres_wrapper/solver_ceres.cpp
+++ b/src/ceres_wrapper/solver_ceres.cpp
@@ -29,7 +29,6 @@
namespace wolf
{
-
SolverCeres::SolverCeres(const ProblemPtr& _wolf_problem, const YAML::Node& _params)
: SolverManager(_wolf_problem, _params),
n_iter_acc_(0),
diff --git a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
index 4eaa9fb93c9faf5b9f7235e120bd036d6e0cb844..8d3bf82a6c887e5671a47a8ab92c76201c3449be 100644
--- a/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+++ b/src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
@@ -29,13 +29,13 @@ TreeManagerSlidingWindowDualRate::TreeManagerSlidingWindowDualRate(const YAML::N
{
NodeBase::setType("TreeManagerSlidingWindowDualRate");
- n_frames_recent_ = _params["n_frames_recent"].as<unsigned int>();
- rate_old_frames_ = _params["rate_old_frames"].as<unsigned int>();
- if (n_frames_recent_ >= n_frames_)
- {
- throw std::runtime_error(
- "ParamsTreeManagerSlidingWindowDualRate: 'n_frames_recent' should be smaller than 'n_frames'");
- }
+ n_frames_recent_ = _params["n_frames_recent"].as<unsigned int>();
+ rate_old_frames_ = _params["rate_old_frames"].as<unsigned int>();
+ if (n_frames_recent_ >= n_frames_)
+ {
+ throw std::runtime_error(
+ "ParamsTreeManagerSlidingWindowDualRate: 'n_frames_recent' should be smaller than 'n_frames'");
+ }
}
void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _frame)
diff --git a/test/dummy/tree_manager_dummy.h b/test/dummy/tree_manager_dummy.h
index ba43cf0dc479981029f467ee88d15cee41f292e7..49b3d8a2561712316bf091ff8ccd25e216fa5177 100644
--- a/test/dummy/tree_manager_dummy.h
+++ b/test/dummy/tree_manager_dummy.h
@@ -24,7 +24,6 @@
namespace wolf
{
-
WOLF_PTR_TYPEDEFS(TreeManagerDummy)
class TreeManagerDummy : public TreeManagerBase
@@ -43,7 +42,7 @@ class TreeManagerDummy : public TreeManagerBase
n_KF_++;
};
- int n_KF_;
+ int n_KF_;
double toy_param_;
};
diff --git a/test/gtest_factor_distance_3d.cpp b/test/gtest_factor_distance_3d.cpp
index a8cf2891935e7edb4aa90d0491808753a04f80ff..3fb3794742c80d96377e48255b1e9be6b80f4164 100644
--- a/test/gtest_factor_distance_3d.cpp
+++ b/test/gtest_factor_distance_3d.cpp
@@ -98,7 +98,7 @@ TEST_F(FactorAutodiffDistance3d_Test, expected_residual)
double res_expected = (measurement - (pos2 - pos1).norm()) * c2->getMeasurementSquareRootInformationUpper()(0, 0);
double res;
- c2->operator()(pos1.data(), pos2.data(), &res);
+ c2-> operator()(pos1.data(), pos2.data(), &res);
ASSERT_NEAR(res, res_expected, 1e-5);
}
diff --git a/test/gtest_factor_pose_2d_with_extrinsics.cpp b/test/gtest_factor_pose_2d_with_extrinsics.cpp
index 1a74f1acf81ac080070c2f312d8e70a649c394a1..ce1b772428d84413be23dc0e508c0662e1e711cc 100644
--- a/test/gtest_factor_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_2d_with_extrinsics.cpp
@@ -45,7 +45,7 @@ auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solve
// Sensor
auto sensor_pose2d =
- problem_ptr->installSensor("SensorPose2d", wolf_dir + "/test/yaml/sensor_pose_2d.yaml", {wolf_dir});
+ problem_ptr -> installSensor("SensorPose2d", wolf_dir + "/test/yaml/sensor_pose_2d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm = problem_ptr->emplaceFrame(0, "PO", Vector3d::Zero());
diff --git a/test/gtest_factor_pose_3d_with_extrinsics.cpp b/test/gtest_factor_pose_3d_with_extrinsics.cpp
index 5312d5a49fd6a13c72d1d406fc6883cbe535c7bb..7993a7b08251a15b34d66efba62f512316e3a48e 100644
--- a/test/gtest_factor_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_pose_3d_with_extrinsics.cpp
@@ -45,7 +45,7 @@ auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solve
// Sensor
auto sensor_pose3d =
- problem_ptr->installSensor("SensorPose3d", wolf_dir + "/test/yaml/sensor_pose_3d.yaml", {wolf_dir});
+ problem_ptr -> installSensor("SensorPose3d", wolf_dir + "/test/yaml/sensor_pose_3d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm = problem_ptr->emplaceFrame(0, "PO", (Vector7d() << 0, 0, 0, 0, 0, 0, 1).finished());
diff --git a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
index be8620ebac35a3dfd4394483eb9bbc3ee4bc691a..3c55d0b50c4dd276fd25c1a34fa971c50beae47e 100644
--- a/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_2d_with_extrinsics.cpp
@@ -49,7 +49,7 @@ auto problem_ptr = Problem::create("PO", 2);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor("SensorOdom2d", wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor("SensorOdom2d", wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm0 = problem_ptr->emplaceFrame(0, "PO", Vector3d::Zero());
diff --git a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
index f6c4c1a67200ac18cd486171308c03209b6b1dba..db1e95c723307a7588424a2bc777fdb5538dc4c0 100644
--- a/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_pose_3d_with_extrinsics.cpp
@@ -46,7 +46,7 @@ auto problem_ptr = Problem::create("PO", 3);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor("SensorOdom3d", wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor("SensorOdom3d", wolf_dir + "/test/yaml/sensor_odom_3d.yaml", {wolf_dir});
// Two frames
FrameBasePtr frm0 = problem_ptr->emplaceFrame(0, "PO", (Vector7d() << 0, 0, 0, 0, 0, 0, 1).finished());
diff --git a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
index 668ee7267fa77c36130d02384f76dc8c3fe48951..08f34a8e80a0d8a9dd9d909f2613d7ae7bcc1866 100644
--- a/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
+++ b/test/gtest_factor_relative_position_2d_with_extrinsics.cpp
@@ -49,7 +49,7 @@ auto problem_ptr = Problem::create("PO", 2);
auto solver_ptr = SolverCeres::create(problem_ptr, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Sensor
-auto sensor = problem_ptr->installSensor("SensorOdom2d", wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
+auto sensor = problem_ptr -> installSensor("SensorOdom2d", wolf_dir + "/test/yaml/sensor_odom_2d.yaml", {wolf_dir});
// Frame
FrameBasePtr frm = problem_ptr->emplaceFrame(0, "PO", Vector3d::Zero());
diff --git a/test/gtest_node_state_blocks.cpp b/test/gtest_node_state_blocks.cpp
index 0f58cadd22c259e16341ccc07ed6af6cfcfe614f..24329ff6e48323b8a09fcc92206a482e2c709bc2 100644
--- a/test/gtest_node_state_blocks.cpp
+++ b/test/gtest_node_state_blocks.cpp
@@ -199,15 +199,15 @@ class NodeStateBlocksDerivedTest : public testing::Test
{
problem = Problem::create("POV", 3);
- sbp0 = std::make_shared<StatePoint3d>(Vector3d::Zero()); // size 3
+ sbp0 = std::make_shared<StatePoint3d>(Vector3d::Zero()); // size 3
sbo0 = std::make_shared<StateQuaternion>();
sbv0 = std::make_shared<StateVector3d>(Vector3d::Zero()); // size 3
sbp1 = std::make_shared<StatePoint3d>(Vector3d::Zero()); // size 3
sbo1 = std::make_shared<StateQuaternion>();
sbv1 = std::make_shared<StateVector3d>(Vector3d::Zero()); // size 3
- F0 = std::make_shared<FrameBase>(0.0, sbp0, sbo0); // non KF
- F1 = std::make_shared<FrameBase>(1.0, nullptr); // non KF
+ F0 = std::make_shared<FrameBase>(0.0, sbp0, sbo0); // non KF
+ F1 = std::make_shared<FrameBase>(1.0, nullptr); // non KF
}
void TearDown() override {}
};
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index dd0fddbc02c857f368de6086f03742d0c38686d1..c5bab34b3f523a624726e93de72757a4f8797dd7 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -324,7 +324,7 @@ TEST(Problem, StateBlocks)
// consume notifications
SolverManagerPtr SM = SolverDummy::create(P, wolf_dir + "/test/yaml/solver_dummy.yaml", {wolf_dir});
ASSERT_EQ(P->getStateBlockNotificationMapSize(), (SizeStd)(2 + 2));
- SM->update(); // calls P->consumeNotifications();
+ SM->update(); // calls P->consumeNotifications();
ASSERT_EQ(P->getStateBlockNotificationMapSize(),
(SizeStd)(0)); // consumeNotifications empties the notification map
diff --git a/test/gtest_processor_landmark_external.cpp b/test/gtest_processor_landmark_external.cpp
index e4808eb359cf8bafd0b6164cae56867080f50514..7292ac09ee5d05a929c911852e44572bca8db13c 100644
--- a/test/gtest_processor_landmark_external.cpp
+++ b/test/gtest_processor_landmark_external.cpp
@@ -101,7 +101,7 @@ void ProcessorLandmarkExternalTest::initProblem(int _dim,
// Sensors
sensor = problem->installSensor("SensorOdom" + toString(dim) + "d",
wolf_dir + "/test/yaml/sensor_odom_" + toString(dim) + "d.yaml",
- {wolf_dir});
+ {wolf_dir});
sensor_odom = problem->installSensor("SensorOdom" + toString(dim) + "d",
wolf_dir + "/test/yaml/sensor_odom_" + toString(dim) + "d.yaml",
{wolf_dir});
diff --git a/test/gtest_processor_odom_2d.cpp b/test/gtest_processor_odom_2d.cpp
index 85296e9d21df2c2558393e91a481dd812e2c9ae1..ebd0973f461e47405a53fe6b33fa23c5e98b00cb 100644
--- a/test/gtest_processor_odom_2d.cpp
+++ b/test/gtest_processor_odom_2d.cpp
@@ -92,7 +92,7 @@ TEST(ProcessorOdom2d, VoteForKfAndSolve)
// motion data
VectorXd data(Vector2d(1, M_PI_4)); // advance 1m turn pi/4 rad (45 deg). Need 8 steps for a complete turn
Eigen::MatrixXd data_cov = Eigen::MatrixXd::Identity(2, 2) * 0.01;
- int N = 7; // number of process() steps
+ int N = 7; // number of process() steps
// Create Wolf tree nodes
ProblemPtr problem = Problem::create("PO", 2);
@@ -221,7 +221,7 @@ TEST(ProcessorOdom2d, KF_callback)
double dt = .01;
VectorXd data(Vector2d(1, M_PI_4)); // advance 1m
Eigen::MatrixXd data_cov = Eigen::MatrixXd::Identity(2, 2) * 0.01;
- int N = 8; // number of process() steps
+ int N = 8; // number of process() steps
// NOTE: We integrate and create KFs as follows:
// n = 0 1 2 3 4 5 6 7 8
@@ -239,7 +239,7 @@ TEST(ProcessorOdom2d, KF_callback)
"ProcessorOdom2d", sensor_odom2d, wolf_dir + "/test/yaml/processor_odom_2d_inactive.yaml", {wolf_dir}));
// Ceres wrapper
- auto solver = SolverCeres::create(problem, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
+ auto solver = SolverCeres::create(problem, wolf_dir + "/test/yaml/solver_ceres.yaml", {wolf_dir});
// Origin Key Frame
SpecStateComposite prior;
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index 6853b1c4658efd28beba1885b5d6e1d6b6a6f41a..4d315e0d850fe7f930c357fdec9ed399f2f169b2 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -229,8 +229,8 @@ TEST(SensorBase, sensor_dummy)
// factory file ------------------------------------------------------------------------
try
{
- auto S4 = FactorySensorFile::create(
- "SensorDummy" + toString(dim) + "d", yaml_file, {wolf_dir});
+ auto S4 =
+ FactorySensorFile::create("SensorDummy" + toString(dim) + "d", yaml_file, {wolf_dir});
// noise
ASSERT_MATRIX_APPROX(S4->computeNoiseCov(vector0), noise_cov_dummy, Constants::EPS);
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index 816fa1cf692f60c1f0478cd8cbcfa8fd3ac81cef..d8c4055c749754892e7b5daddb720a82d2b095f9 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -52,20 +52,20 @@ TEST(TrajectoryBase, ClosestKeyFrame)
FrameBasePtr F4 = std::make_shared<FrameBase>(
4, P->getFrameTypes(), VectorComposite("PO", {Eigen::Vector2d::Zero(), Eigen::Vector1d::Zero()}));
- FrameBasePtr KF; // closest key-frame queried
+ FrameBasePtr KF; // closest key-frame queried
KF = T->closestFrameToTimeStamp(-0.8); // before all keyframes --> return F1
ASSERT_EQ(KF->id(), F1->id()); // same id!
- KF = T->closestFrameToTimeStamp(1.1); // between keyframes --> return F1
- ASSERT_EQ(KF->id(), F1->id()); // same id!
+ KF = T->closestFrameToTimeStamp(1.1); // between keyframes --> return F1
+ ASSERT_EQ(KF->id(), F1->id()); // same id!
- KF = T->closestFrameToTimeStamp(1.9); // between keyframes --> return F2
- ASSERT_EQ(KF->id(), F2->id()); // same id!
+ KF = T->closestFrameToTimeStamp(1.9); // between keyframes --> return F2
+ ASSERT_EQ(KF->id(), F2->id()); // same id!
KF = T->closestFrameToTimeStamp(
2.6); // between keyframe and auxiliary frame, but closer to auxiliary frame --> return F2
- ASSERT_EQ(KF->id(), F2->id()); // same id!
+ ASSERT_EQ(KF->id(), F2->id()); // same id!
KF = T->closestFrameToTimeStamp(3.2); // after the auxiliary frame, between closer to frame --> return F2
ASSERT_EQ(KF->id(), F2->id()); // same id!
diff --git a/test/gtest_tree_manager_sliding_window.cpp b/test/gtest_tree_manager_sliding_window.cpp
index 533634a86cb26c5bb280089f7714747bef0c2afa..0abcfdf232ffc716cc88f892fc868d7b2b4c8c9f 100644
--- a/test/gtest_tree_manager_sliding_window.cpp
+++ b/test/gtest_tree_manager_sliding_window.cpp
@@ -74,7 +74,7 @@ TEST(TreeManager, FactoryNode)
ASSERT_TRUE(server.applySchema("TreeManagerSlidingWindow"));
- auto TM = FactoryTreeManagerNode::create("TreeManagerSlidingWindow", server.getNode(),{});
+ auto TM = FactoryTreeManagerNode::create("TreeManagerSlidingWindow", server.getNode(), {});
EXPECT_TRUE(std::dynamic_pointer_cast<TreeManagerSlidingWindow>(TM) != nullptr);