diff --git a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
index 6fb0fb5ac86ed3216ed9fd698d7d1aa5cc10cb48..2504d0b10bf669ececd7ce33e6ab9b15928eb26b 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -8,8 +8,6 @@
#ifndef SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
#define SRC_CERES_WRAPPER_CREATE_NUMERIC_DIFF_COST_FUNCTION_H_
-#include <core/factor/factor_odom_2d_autodiff.h>
-
#include "ceres/cost_function.h"
#include "ceres/numeric_diff_cost_function.h"
diff --git a/include/core/feature/feature_odom_2d.h b/include/core/feature/feature_odom_2d.h
index 3c9c87a2e4fb48e19e81bc7ebeae29c96c31d38c..071976faf1419ea48fd00c37707d95bf344ec855 100644
--- a/include/core/feature/feature_odom_2d.h
+++ b/include/core/feature/feature_odom_2d.h
@@ -3,7 +3,6 @@
//Wolf includes
#include <core/factor/factor_odom_2d.h>
-#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/feature/feature_base.h"
//std includes
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index 051fce0052749e63cceb700bf9d40a0f6f0ba21f..254eded5ccc644faf5b6c20e128f55da77c92b95 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -8,7 +8,6 @@
#ifndef SRC_PROCESSOR_ODOM_2d_H_
#define SRC_PROCESSOR_ODOM_2d_H_
-#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/processor/processor_motion.h"
#include "core/capture/capture_odom_2d.h"
#include "core/math/rotations.h"
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index d208800d1958194b880bea05c0babec5ca3f1493..b89d49c8cac06092aaaada411598c20514fab574 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -9,7 +9,7 @@
#define TRUNK_SRC_SOLVER_QR_SOLVER_H_
//std includes
-#include <core/factor/factor_odom_2d_autodiff.h>
+#include <core/factor/factor_odom_2d.h>
#include <iostream>
#include <ctime>
@@ -547,8 +547,8 @@ class SolverQR
}
case FAC_ODOM_2d:
{
- FactorOdom2dAutodiff* specific_ptr = (FactorOdom2dAutodiff*)(_fac_ptr);
- return (CostFunctionBasePtr)new CostFunctionSparse<FactorOdom2dAutodiff, specific_ptr->residualSize,
+ FactorOdom2d* specific_ptr = (FactorOdom2d*)(_fac_ptr);
+ return (CostFunctionBasePtr)new CostFunctionSparse<FactorOdom2d, specific_ptr->residualSize,
specific_ptr->block0Size, specific_ptr->block1Size, specific_ptr->block2Size,
specific_ptr->block3Size, specific_ptr->block4Size, specific_ptr->block5Size,
specific_ptr->block6Size, specific_ptr->block7Size, specific_ptr->block8Size,
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 88278d0908cbc163e1f23bb39aeccaf6b1527617..d4f40c9ebea4250e313e2031650e33ef95f224ab 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -2,6 +2,7 @@
#include "core/sensor/sensor_odom_2d.h"
#include "core/math/covariance.h"
#include "core/state_block/state_composite.h"
+#include "core/factor/factor_odom_2d.h"
namespace wolf
{
@@ -143,7 +144,7 @@ CaptureMotionPtr ProcessorOdom2d::emplaceCapture(const FrameBasePtr& _frame_own,
FactorBasePtr ProcessorOdom2d::emplaceFactor(FeatureBasePtr _feature, CaptureBasePtr _capture_origin)
{
- auto fac_odom = FactorBase::emplace<FactorOdom2dAutodiff>(_feature,
+ auto fac_odom = FactorBase::emplace<FactorOdom2d>(_feature,
_feature,
_capture_origin->getFrame(),
shared_from_this(),
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 863664bee6f91ea3a00f70f4e71de61346e47e89..21ed3167006049866bcbc481ec5bfa81c760a23c 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -111,7 +111,7 @@ TEST(Emplace, Factor)
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getCaptureList().front()->getFeatureList().front()->getCapture()->getFrame()->getTrajectory()->getProblem());
ASSERT_EQ(P, P->getTrajectory()->getFirstFrame()->getCaptureList().front()->getFeatureList().front()->getProblem());
ASSERT_EQ(cpt, cpt->getFeatureList().front()->getCapture());
- auto cnt = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
+ auto cnt = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
ASSERT_NE(nullptr, ftr->getFactorList().front().get());
}
@@ -145,9 +145,9 @@ TEST(Emplace, ReturnDerived)
auto cpt = CaptureBase::emplace<CaptureBase>(frm, "Dummy", TimeStamp(0), nullptr, nullptr, nullptr, nullptr);
auto cov = Eigen::MatrixXd::Identity(2,2);
auto ftr = FeatureBase::emplace<FeatureOdom2d>(cpt, Eigen::VectorXd(2), cov);
- auto cnt = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
+ auto cnt = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
- FactorOdom2dAutodiffPtr fac = FactorBase::emplace<FactorOdom2dAutodiff>(ftr, ftr, frm, nullptr, false);
+ FactorOdom2dPtr fac = FactorBase::emplace<FactorOdom2d>(ftr, ftr, frm, nullptr, false);
}
int main(int argc, char **argv)
diff --git a/test/gtest_factor_odom_2d.cpp b/test/gtest_factor_odom_2d.cpp
index 7adb358a7bb2ef8b9d3d697e133414611010b502..5638239af4199356a877f186ca93a9e398b9f557 100644
--- a/test/gtest_factor_odom_2d.cpp
+++ b/test/gtest_factor_odom_2d.cpp
@@ -1,4 +1,4 @@
-#include <core/factor/factor_odom_2d_autodiff.h>
+#include <core/factor/factor_odom_2d.h>
#include "../include/core/ceres_wrapper/solver_ceres.h"
#include "core/utils/utils_gtest.h"
@@ -25,12 +25,12 @@ FrameBasePtr frm1 = problem_ptr->emplaceFrame(TimeStamp(1), Vector3d::Zero());
// Capture from frm1 to frm0
auto cap1 = CaptureBase::emplace<CaptureOdom2d>(frm1, 1, nullptr, Vector3d::Zero(), data_cov);
-TEST(FactorOdom2dAutodiff, check_tree)
+TEST(FactorOdom2d, check_tree)
{
ASSERT_TRUE(problem_ptr->check(0));
}
-TEST(FactorOdom2dAutodiff, fix_0_solve)
+TEST(FactorOdom2d, fix_0_solve)
{
for (int i = 0; i < 1e3; i++)
{
@@ -54,7 +54,7 @@ TEST(FactorOdom2dAutodiff, fix_0_solve)
// feature & factor with delta measurement
auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
- FactorBase::emplace<FactorOdom2dAutodiff>(fea1, fea1, frm0, nullptr, false);
+ FactorBase::emplace<FactorOdom2d>(fea1, fea1, frm0, nullptr, false);
// Fix frm0, perturb frm1
frm0->fix();
@@ -71,7 +71,7 @@ TEST(FactorOdom2dAutodiff, fix_0_solve)
}
}
-TEST(FactorOdom2dAutodiff, fix_1_solve)
+TEST(FactorOdom2d, fix_1_solve)
{
for (int i = 0; i < 1e3; i++)
{
@@ -95,7 +95,7 @@ TEST(FactorOdom2dAutodiff, fix_1_solve)
// feature & factor with delta measurement
auto fea1 = FeatureBase::emplace<FeatureBase>(cap1, "FeatureOdom2d", delta, data_cov);
- FactorBase::emplace<FactorOdom2dAutodiff>(fea1, fea1, frm0, nullptr, false);
+ FactorBase::emplace<FactorOdom2d>(fea1, fea1, frm0, nullptr, false);
// Fix frm1, perturb frm0
frm1->fix();
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 2af1639c752b76c83100ac524f0eb857adce05e9..fc170fe3589bc43c5816b04af4419dcab510c671 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include <core/factor/factor_odom_2d_autodiff.h>
+#include <core/factor/factor_odom_2d.h>
#include "core/utils/utils_gtest.h"
@@ -75,7 +75,7 @@ TEST(FrameBase, LinksToTree)
//auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ParamsProcessorOdom2d>());
WOLF_INFO("F2->getCaptureList().size() ", F2->getCaptureList().size());
auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
- auto c = FactorBase::emplace<FactorOdom2dAutodiff>(f, f, F2, p, false);
+ auto c = FactorBase::emplace<FactorOdom2d>(f, f, F2, p, false);
//TODO: WARNING! I dropped this comprovations since the emplacing operation is now atomic.
ASSERT_FALSE(F2->getConstrainedByList().empty());
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 3fb6a8bf2ca7dd818efec337bdfd822f83ede1ba..7f9afd039927db217e46dc4a2b1397e3529cf037 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -6,7 +6,6 @@
*/
#include <core/factor/factor_odom_2d.h>
-#include <core/factor/factor_odom_2d_autodiff.h>
#include "core/utils/utils_gtest.h"
// Classes under test