From f92a9b5f5184889385338f383bcd6c5d1ee76ecf Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Fri, 3 May 2019 11:34:55 +0200
Subject: [PATCH] Fixed includes base -> core
---
hello_wolf/capture_range_bearing.h | 2 +-
hello_wolf/factor_bearing.h | 2 +-
hello_wolf/factor_range_bearing.h | 2 +-
hello_wolf/feature_range_bearing.h | 2 +-
hello_wolf/hello_wolf.cpp | 8 +++----
hello_wolf/landmark_point_2D.h | 2 +-
hello_wolf/processor_range_bearing.cpp | 2 +-
hello_wolf/processor_range_bearing.h | 2 +-
hello_wolf/sensor_range_bearing.cpp | 4 ++--
hello_wolf/sensor_range_bearing.h | 2 +-
include/core/association/association_nnls.h | 2 +-
include/core/association/association_node.h | 2 +-
include/core/association/association_solver.h | 2 +-
include/core/association/association_tree.h | 6 ++---
include/core/capture/capture_base.h | 14 +++++------
include/core/capture/capture_buffer.h | 4 ++--
include/core/capture/capture_motion.h | 4 ++--
include/core/capture/capture_odom_2D.h | 4 ++--
include/core/capture/capture_odom_3D.h | 4 ++--
include/core/capture/capture_pose.h | 8 +++----
include/core/capture/capture_velocity.h | 2 +-
include/core/capture/capture_void.h | 2 +-
.../capture/capture_wheel_joint_position.h | 2 +-
include/core/ceres_wrapper/ceres_manager.h | 8 +++----
.../ceres_wrapper/cost_function_wrapper.h | 4 ++--
.../create_numeric_diff_cost_function.h | 4 ++--
.../local_parametrization_wrapper.h | 4 ++--
include/core/ceres_wrapper/qr_manager.h | 4 ++--
include/core/ceres_wrapper/solver_manager.h | 6 ++---
include/core/common/factory.h | 4 ++--
include/core/common/node_base.h | 2 +-
include/core/common/time_stamp.h | 2 +-
include/core/common/wolf.h | 2 +-
include/core/factor/factor_analytic.h | 2 +-
include/core/factor/factor_autodiff.h | 4 ++--
.../core/factor/factor_autodiff_distance_3D.h | 2 +-
include/core/factor/factor_base.h | 14 +++++------
include/core/factor/factor_block_absolute.h | 6 ++---
include/core/factor/factor_container.h | 6 ++---
include/core/factor/factor_diff_drive.h | 8 +++----
include/core/factor/factor_epipolar.h | 2 +-
include/core/factor/factor_fix_bias.h | 10 ++++----
include/core/factor/factor_odom_2D.h | 4 ++--
include/core/factor/factor_odom_2D_analytic.h | 2 +-
include/core/factor/factor_odom_3D.h | 4 ++--
include/core/factor/factor_pose_2D.h | 6 ++---
include/core/factor/factor_pose_3D.h | 6 ++---
.../core/factor/factor_quaternion_absolute.h | 8 +++----
.../core/factor/factor_relative_2D_analytic.h | 4 ++--
include/core/feature/feature_base.h | 6 ++---
include/core/feature/feature_diff_drive.h | 2 +-
include/core/feature/feature_match.h | 2 +-
include/core/feature/feature_motion.h | 4 ++--
include/core/feature/feature_odom_2D.h | 6 ++---
include/core/feature/feature_pose.h | 2 +-
include/core/frame/frame_base.h | 14 +++++------
include/core/hardware/hardware_base.h | 4 ++--
include/core/landmark/landmark_base.h | 12 +++++-----
include/core/landmark/landmark_match.h | 2 +-
include/core/map/map_base.h | 4 ++--
include/core/math/SE3.h | 4 ++--
include/core/math/pinhole_tools.h | 2 +-
include/core/math/rotations.h | 2 +-
include/core/problem/problem.h | 6 ++---
include/core/processor/diff_drive_tools.h | 4 ++--
include/core/processor/motion_buffer.h | 4 ++--
include/core/processor/processor_base.h | 12 +++++-----
.../core/processor/processor_capture_holder.h | 6 ++---
include/core/processor/processor_diff_drive.h | 4 ++--
include/core/processor/processor_factory.h | 12 +++++-----
.../processor_frame_nearest_neighbor_filter.h | 4 ++--
include/core/processor/processor_logging.h | 2 +-
.../processor/processor_loopclosure_base.h | 2 +-
include/core/processor/processor_motion.h | 8 +++----
include/core/processor/processor_odom_2D.h | 8 +++----
include/core/processor/processor_odom_3D.h | 10 ++++----
include/core/processor/processor_tracker.h | 4 ++--
.../processor/processor_tracker_feature.h | 10 ++++----
.../processor_tracker_feature_dummy.h | 6 ++---
.../processor/processor_tracker_landmark.h | 8 +++----
include/core/processor/track_matrix.h | 4 ++--
include/core/sensor/sensor_base.h | 14 +++++------
include/core/sensor/sensor_diff_drive.h | 4 ++--
include/core/sensor/sensor_factory.h | 4 ++--
include/core/sensor/sensor_odom_2D.h | 2 +-
include/core/sensor/sensor_odom_3D.h | 2 +-
include/core/solver/solver_manager.h | 6 ++---
.../solver_suitesparse/cost_function_base.h | 2 +-
.../solver_suitesparse/cost_function_sparse.h | 2 +-
.../cost_function_sparse_base.h | 2 +-
include/core/solver_suitesparse/qr_solver.h | 12 +++++-----
.../core/solver_suitesparse/solver_manager.h | 6 ++---
.../state_block/local_parametrization_angle.h | 4 ++--
.../state_block/local_parametrization_base.h | 2 +-
.../local_parametrization_homogeneous.h | 2 +-
.../local_parametrization_polyline_extreme.h | 2 +-
.../local_parametrization_quaternion.h | 2 +-
include/core/state_block/state_angle.h | 4 ++--
include/core/state_block/state_block.h | 8 +++----
.../core/state_block/state_homogeneous_3D.h | 4 ++--
include/core/state_block/state_quaternion.h | 4 ++--
include/core/trajectory/trajectory_base.h | 4 ++--
include/core/utils/eigen_predicates.h | 2 +-
include/core/utils/logging.h | 2 +-
...serialization_local_parametrization_base.h | 2 +-
...zation_local_parametrization_homogeneous.h | 2 +-
...ization_local_parametrization_quaternion.h | 2 +-
.../cereal/serialization_node_base.h | 2 +-
.../serialization_processor_odom2d_params.h | 2 +-
.../serialization_processor_odom3d_params.h | 2 +-
.../serialization_processor_params_base.h | 2 +-
.../serialization_sensor_intrinsic_base.h | 2 +-
.../serialization_sensor_odom2d_intrinsic.h | 2 +-
.../cereal/serialization_time_stamp.h | 2 +-
src/association/association_nnls.cpp | 2 +-
src/association/association_node.cpp | 2 +-
src/association/association_solver.cpp | 2 +-
src/association/association_tree.cpp | 2 +-
src/capture/capture_base.cpp | 4 ++--
src/capture/capture_motion.cpp | 2 +-
src/capture/capture_odom_2D.cpp | 2 +-
src/capture/capture_odom_3D.cpp | 2 +-
src/capture/capture_pose.cpp | 2 +-
src/capture/capture_velocity.cpp | 2 +-
src/capture/capture_void.cpp | 2 +-
src/capture/capture_wheel_joint_position.cpp | 6 ++---
src/ceres_wrapper/ceres_manager.cpp | 12 +++++-----
.../local_parametrization_wrapper.cpp | 2 +-
src/ceres_wrapper/solver_manager.cpp | 8 +++----
src/common/node_base.cpp | 2 +-
src/common/time_stamp.cpp | 2 +-
src/examples/solver/test_ccolamd.cpp | 2 +-
src/examples/solver/test_iQR_wolf2.cpp | 8 +++----
src/examples/test_2_lasers_offline.cpp | 16 ++++++-------
src/examples/test_analytic_odom_factor.cpp | 4 ++--
src/examples/test_apriltag.cpp | 16 ++++++-------
src/examples/test_autodiff.cpp | 4 ++--
src/examples/test_capture_laser_2D.cpp | 2 +-
src/examples/test_ceres_2_lasers.cpp | 16 ++++++-------
.../test_ceres_2_lasers_polylines.cpp | 16 ++++++-------
src/examples/test_diff_drive.cpp | 10 ++++----
src/examples/test_eigen_quaternion.cpp | 2 +-
src/examples/test_factor_AHP.cpp | 14 +++++------
src/examples/test_factor_imu.cpp | 20 ++++++++--------
src/examples/test_factor_odom_3D.cpp | 2 +-
src/examples/test_faramotics_simulation.cpp | 8 +++----
src/examples/test_image.cpp | 8 +++----
src/examples/test_imuDock.cpp | 18 +++++++-------
src/examples/test_imuDock_autoKFs.cpp | 18 +++++++-------
src/examples/test_imuPlateform_Offline.cpp | 22 ++++++++---------
src/examples/test_imu_constrained0.cpp | 22 ++++++++---------
src/examples/test_kf_callback.cpp | 8 +++----
src/examples/test_map_yaml.cpp | 14 +++++------
src/examples/test_mpu.cpp | 14 +++++------
src/examples/test_processor_imu.cpp | 14 +++++------
src/examples/test_processor_imu_jacobians.cpp | 12 +++++-----
src/examples/test_processor_odom_3D.cpp | 14 +++++------
.../test_processor_tracker_feature.cpp | 12 +++++-----
.../test_processor_tracker_landmark.cpp | 12 +++++-----
.../test_processor_tracker_landmark_image.cpp | 20 ++++++++--------
src/examples/test_projection_points.cpp | 2 +-
src/examples/test_simple_AHP.cpp | 18 +++++++-------
src/examples/test_sort_keyframes.cpp | 8 +++----
src/examples/test_sparsification.cpp | 8 +++----
src/examples/test_state_quaternion.cpp | 6 ++---
src/examples/test_tracker_ORB.cpp | 2 +-
src/examples/test_wolf_autodiffwrapper.cpp | 4 ++--
src/examples/test_wolf_factories.cpp | 18 +++++++-------
src/examples/test_wolf_imported_graph.cpp | 4 ++--
src/examples/test_wolf_logging.cpp | 4 ++--
src/examples/test_wolf_prunning.cpp | 6 ++---
src/examples/test_wolf_root.cpp | 2 +-
src/examples/test_yaml.cpp | 4 ++--
src/examples/test_yaml_conversions.cpp | 2 +-
src/factor/factor_analytic.cpp | 4 ++--
src/factor/factor_base.cpp | 6 ++---
src/feature/feature_base.cpp | 6 ++---
src/feature/feature_diff_drive.cpp | 2 +-
src/feature/feature_odom_2D.cpp | 2 +-
src/feature/feature_pose.cpp | 2 +-
src/frame/frame_base.cpp | 16 ++++++-------
src/hardware/hardware_base.cpp | 4 ++--
src/landmark/landmark_base.cpp | 10 ++++----
src/map/map_base.cpp | 6 ++---
src/problem/problem.cpp | 24 +++++++++----------
src/processor/motion_buffer.cpp | 2 +-
src/processor/processor_base.cpp | 8 +++----
src/processor/processor_capture_holder.cpp | 4 ++--
src/processor/processor_diff_drive.cpp | 16 ++++++-------
...rocessor_frame_nearest_neighbor_filter.cpp | 2 +-
src/processor/processor_loopclosure_base.cpp | 2 +-
src/processor/processor_motion.cpp | 2 +-
src/processor/processor_odom_2D.cpp | 4 ++--
src/processor/processor_odom_3D.cpp | 4 ++--
src/processor/processor_tracker.cpp | 2 +-
src/processor/processor_tracker_feature.cpp | 2 +-
.../processor_tracker_feature_dummy.cpp | 4 ++--
src/processor/processor_tracker_landmark.cpp | 4 ++--
src/processor/track_matrix.cpp | 2 +-
src/sensor/sensor_base.cpp | 10 ++++----
src/sensor/sensor_diff_drive.cpp | 10 ++++----
src/sensor/sensor_odom_2D.cpp | 8 +++----
src/sensor/sensor_odom_3D.cpp | 8 +++----
src/solver/solver_manager.cpp | 8 +++----
src/solver_suitesparse/solver_manager.cpp | 2 +-
.../local_parametrization_base.cpp | 2 +-
.../local_parametrization_homogeneous.cpp | 4 ++--
...local_parametrization_polyline_extreme.cpp | 6 ++---
.../local_parametrization_quaternion.cpp | 4 ++--
src/state_block/state_block.cpp | 2 +-
src/trajectory/trajectory_base.cpp | 4 ++--
src/yaml/processor_image_yaml.cpp | 6 ++---
src/yaml/processor_odom_3D_yaml.cpp | 6 ++---
src/yaml/sensor_odom_3D_yaml.cpp | 6 ++---
test/gtest_SE3.cpp | 2 +-
test/gtest_capture_base.cpp | 4 ++--
test/gtest_ceres_manager.cpp | 24 +++++++++----------
test/gtest_eigen_predicates.cpp | 2 +-
test/gtest_factor_absolute.cpp | 8 +++----
test/gtest_factor_autodiff.cpp | 12 +++++-----
test/gtest_factor_autodiff_distance_3D.cpp | 10 ++++----
test/gtest_factor_odom_3D.cpp | 6 ++---
test/gtest_factor_pose_2D.cpp | 6 ++---
test/gtest_factor_pose_3D.cpp | 6 ++---
test/gtest_feature_base.cpp | 2 +-
test/gtest_frame_base.cpp | 14 +++++------
test/gtest_local_param.cpp | 10 ++++----
test/gtest_make_posdef.cpp | 2 +-
test/gtest_motion_buffer.cpp | 6 ++---
test/gtest_odom_2D.cpp | 14 +++++------
test/gtest_odom_3D.cpp | 6 ++---
test/gtest_pack_KF_buffer.cpp | 10 ++++----
test/gtest_param_prior.cpp | 8 +++----
test/gtest_pinhole.cpp | 2 +-
test/gtest_problem.cpp | 12 +++++-----
test/gtest_processor_base.cpp | 10 ++++----
...essor_frame_nearest_neighbor_filter_2D.cpp | 6 ++---
test/gtest_processor_motion.cpp | 10 ++++----
test/gtest_rotation.cpp | 4 ++--
test/gtest_sensor_base.cpp | 2 +-
test/gtest_shared_from_this.cpp | 2 +-
test/gtest_solver_manager.cpp | 20 ++++++++--------
test/gtest_time_stamp.cpp | 2 +-
test/gtest_track_matrix.cpp | 2 +-
test/gtest_trajectory.cpp | 8 +++----
.../gtest_serialization_eigen_geometry.cpp | 2 +-
.../gtest_serialization_eigen_sparse.cpp | 2 +-
247 files changed, 731 insertions(+), 731 deletions(-)
diff --git a/hello_wolf/capture_range_bearing.h b/hello_wolf/capture_range_bearing.h
index 5a7e5a771..49af84cad 100644
--- a/hello_wolf/capture_range_bearing.h
+++ b/hello_wolf/capture_range_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
#define HELLO_WOLF_CAPTURE_RANGE_BEARING_H_
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
namespace wolf
{
diff --git a/hello_wolf/factor_bearing.h b/hello_wolf/factor_bearing.h
index 5c958ba17..56857fe0a 100644
--- a/hello_wolf/factor_bearing.h
+++ b/hello_wolf/factor_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_FACTOR_BEARING_H_
#define HELLO_WOLF_FACTOR_BEARING_H_
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
namespace wolf
{
diff --git a/hello_wolf/factor_range_bearing.h b/hello_wolf/factor_range_bearing.h
index 1414d61a2..c4a321bad 100644
--- a/hello_wolf/factor_range_bearing.h
+++ b/hello_wolf/factor_range_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_FACTOR_RANGE_BEARING_H_
#define HELLO_WOLF_FACTOR_RANGE_BEARING_H_
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
namespace wolf
{
diff --git a/hello_wolf/feature_range_bearing.h b/hello_wolf/feature_range_bearing.h
index 9da7215a5..b68419434 100644
--- a/hello_wolf/feature_range_bearing.h
+++ b/hello_wolf/feature_range_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_FEATURE_RANGE_BEARING_H_
#define HELLO_WOLF_FEATURE_RANGE_BEARING_H_
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
namespace wolf
{
diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp
index 3708f51d3..feeb6ac12 100644
--- a/hello_wolf/hello_wolf.cpp
+++ b/hello_wolf/hello_wolf.cpp
@@ -12,10 +12,10 @@
* \author: jsola
*/
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
#include "sensor_range_bearing.h"
#include "processor_range_bearing.h"
#include "capture_range_bearing.h"
@@ -23,7 +23,7 @@
#include "factor_range_bearing.h"
#include "landmark_point_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
int main()
{
diff --git a/hello_wolf/landmark_point_2D.h b/hello_wolf/landmark_point_2D.h
index 1bd845763..0d7fe13a0 100644
--- a/hello_wolf/landmark_point_2D.h
+++ b/hello_wolf/landmark_point_2D.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_LANDMARK_POINT_2D_H_
#define HELLO_WOLF_LANDMARK_POINT_2D_H_
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
namespace wolf
{
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 25d7fd406..f12702ba9 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -162,7 +162,7 @@ Eigen::Vector2s ProcessorRangeBearing::rect(Scalar range, Scalar bearing) const
} /* namespace wolf */
// Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
namespace wolf
{
WOLF_REGISTER_PROCESSOR("RANGE BEARING", ProcessorRangeBearing)
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index 6e8c77cd6..0dd2b7951 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
#define HELLO_WOLF_PROCESSOR_RANGE_BEARING_H_
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
#include "sensor_range_bearing.h"
#include "Eigen/Geometry"
diff --git a/hello_wolf/sensor_range_bearing.cpp b/hello_wolf/sensor_range_bearing.cpp
index 591800ae6..ef2c5900a 100644
--- a/hello_wolf/sensor_range_bearing.cpp
+++ b/hello_wolf/sensor_range_bearing.cpp
@@ -6,7 +6,7 @@
*/
#include "sensor_range_bearing.h"
-#include "base/state_block/state_angle.h"
+#include "core/state_block/state_angle.h"
namespace wolf
{
@@ -45,7 +45,7 @@ SensorBasePtr SensorRangeBearing::create(const std::string& _unique_name, //
} /* namespace wolf */
// Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
namespace wolf
{
WOLF_REGISTER_SENSOR("RANGE BEARING", SensorRangeBearing)
diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 01ac8d93e..5b60f0bb2 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -8,7 +8,7 @@
#ifndef HELLO_WOLF_SENSOR_RANGE_BEARING_H_
#define HELLO_WOLF_SENSOR_RANGE_BEARING_H_
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
namespace wolf
{
diff --git a/include/core/association/association_nnls.h b/include/core/association/association_nnls.h
index 6563a1f66..c3030f749 100644
--- a/include/core/association/association_nnls.h
+++ b/include/core/association/association_nnls.h
@@ -7,7 +7,7 @@
#include <vector>
//pipol tracker
-#include "base/association/association_solver.h"
+#include "core/association/association_solver.h"
namespace wolf
{
diff --git a/include/core/association/association_node.h b/include/core/association/association_node.h
index c652ba6c4..50e2f67d0 100644
--- a/include/core/association/association_node.h
+++ b/include/core/association/association_node.h
@@ -9,7 +9,7 @@
#include <algorithm> //find()
//pipol tracker
-#include "base/association/matrix.h"
+#include "core/association/matrix.h"
//constants
const double PROB_ZERO_ = 1e-3;
diff --git a/include/core/association/association_solver.h b/include/core/association/association_solver.h
index 6ac986e07..7a1ff70ef 100644
--- a/include/core/association/association_solver.h
+++ b/include/core/association/association_solver.h
@@ -7,7 +7,7 @@
#include <vector>
//matrix class
-#include "base/association/matrix.h"
+#include "core/association/matrix.h"
namespace wolf
{
diff --git a/include/core/association/association_tree.h b/include/core/association/association_tree.h
index b6566a604..e910183b0 100644
--- a/include/core/association/association_tree.h
+++ b/include/core/association/association_tree.h
@@ -9,9 +9,9 @@
//#include <memory>
//pipol tracker
-#include "base/association/matrix.h"
-#include "base/association/association_solver.h"
-#include "base/association/association_node.h"
+#include "core/association/matrix.h"
+#include "core/association/association_solver.h"
+#include "core/association/association_node.h"
#include <map>
namespace wolf
diff --git a/include/core/capture/capture_base.h b/include/core/capture/capture_base.h
index b3adeb9be..31a2738cf 100644
--- a/include/core/capture/capture_base.h
+++ b/include/core/capture/capture_base.h
@@ -8,9 +8,9 @@ class FeatureBase;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
//std includes
@@ -109,10 +109,10 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
}
-#include "base/sensor/sensor_base.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_base.h"
-#include "base/state_block/state_block.h"
+#include "core/sensor/sensor_base.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_base.h"
+#include "core/state_block/state_block.h"
namespace wolf{
diff --git a/include/core/capture/capture_buffer.h b/include/core/capture/capture_buffer.h
index 393d7fc24..6ecabc34e 100644
--- a/include/core/capture/capture_buffer.h
+++ b/include/core/capture/capture_buffer.h
@@ -8,8 +8,8 @@
#ifndef _WOLF_CAPTURE_BUFFER_H_
#define _WOLF_CAPTURE_BUFFER_H_
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
#include <list>
#include <algorithm>
diff --git a/include/core/capture/capture_motion.h b/include/core/capture/capture_motion.h
index 0f84eb72d..c6cb1ef9e 100644
--- a/include/core/capture/capture_motion.h
+++ b/include/core/capture/capture_motion.h
@@ -9,8 +9,8 @@
#define SRC_CAPTURE_MOTION_H_
// Wolf includes
-#include "base/capture/capture_base.h"
-#include "base/processor/motion_buffer.h"
+#include "core/capture/capture_base.h"
+#include "core/processor/motion_buffer.h"
// STL includes
#include <list>
diff --git a/include/core/capture/capture_odom_2D.h b/include/core/capture/capture_odom_2D.h
index ff532803c..7fedfde3a 100644
--- a/include/core/capture/capture_odom_2D.h
+++ b/include/core/capture/capture_odom_2D.h
@@ -8,9 +8,9 @@
#ifndef CAPTURE_ODOM_2D_H_
#define CAPTURE_ODOM_2D_H_
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
namespace wolf
{
diff --git a/include/core/capture/capture_odom_3D.h b/include/core/capture/capture_odom_3D.h
index 863add268..a8c5d651e 100644
--- a/include/core/capture/capture_odom_3D.h
+++ b/include/core/capture/capture_odom_3D.h
@@ -8,9 +8,9 @@
#ifndef CAPTURE_ODOM_3D_H_
#define CAPTURE_ODOM_3D_H_
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
namespace wolf
{
diff --git a/include/core/capture/capture_pose.h b/include/core/capture/capture_pose.h
index e96bda864..aff48d40a 100644
--- a/include/core/capture/capture_pose.h
+++ b/include/core/capture/capture_pose.h
@@ -2,10 +2,10 @@
#define CAPTURE_POSE_H_
//Wolf includes
-#include "base/capture/capture_base.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/factor/factor_pose_3D.h"
-#include "base/feature/feature_pose.h"
+#include "core/capture/capture_base.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_3D.h"
+#include "core/feature/feature_pose.h"
//std includes
//
diff --git a/include/core/capture/capture_velocity.h b/include/core/capture/capture_velocity.h
index 4853fce2a..98bc3b3e3 100644
--- a/include/core/capture/capture_velocity.h
+++ b/include/core/capture/capture_velocity.h
@@ -9,7 +9,7 @@
#define _WOLF_CAPTURE_VELOCITY_H_
//wolf includes
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
namespace wolf {
diff --git a/include/core/capture/capture_void.h b/include/core/capture/capture_void.h
index b6b7a755d..c0bd4803d 100644
--- a/include/core/capture/capture_void.h
+++ b/include/core/capture/capture_void.h
@@ -2,7 +2,7 @@
#define CAPTURE_VOID_H_
//Wolf includes
-#include "base/capture/capture_base.h"
+#include "core/capture/capture_base.h"
namespace wolf {
diff --git a/include/core/capture/capture_wheel_joint_position.h b/include/core/capture/capture_wheel_joint_position.h
index a90cdb205..a2dc8b957 100644
--- a/include/core/capture/capture_wheel_joint_position.h
+++ b/include/core/capture/capture_wheel_joint_position.h
@@ -9,7 +9,7 @@
#define CAPTURE_WHEEL_JOINT_POSITION_H_
//wolf includes
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
namespace wolf {
diff --git a/include/core/ceres_wrapper/ceres_manager.h b/include/core/ceres_wrapper/ceres_manager.h
index d156fd805..28784d488 100644
--- a/include/core/ceres_wrapper/ceres_manager.h
+++ b/include/core/ceres_wrapper/ceres_manager.h
@@ -7,10 +7,10 @@
#include "glog/logging.h"
//wolf includes
-#include "base/solver/solver_manager.h"
-#include "base/ceres_wrapper/cost_function_wrapper.h"
-#include "base/ceres_wrapper/local_parametrization_wrapper.h"
-#include "base/ceres_wrapper/create_numeric_diff_cost_function.h"
+#include "core/solver/solver_manager.h"
+#include "core/ceres_wrapper/cost_function_wrapper.h"
+#include "core/ceres_wrapper/local_parametrization_wrapper.h"
+#include "core/ceres_wrapper/create_numeric_diff_cost_function.h"
namespace ceres {
typedef std::shared_ptr<CostFunction> CostFunctionPtr;
diff --git a/include/core/ceres_wrapper/cost_function_wrapper.h b/include/core/ceres_wrapper/cost_function_wrapper.h
index 2847d9b9a..69cbf125b 100644
--- a/include/core/ceres_wrapper/cost_function_wrapper.h
+++ b/include/core/ceres_wrapper/cost_function_wrapper.h
@@ -2,8 +2,8 @@
#define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_
// WOLF
-#include "base/common/wolf.h"
-#include "base/factor/factor_analytic.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_analytic.h"
// CERES
#include "ceres/cost_function.h"
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 fafa62aae..ff60fea02 100644
--- a/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
+++ b/include/core/ceres_wrapper/create_numeric_diff_cost_function.h
@@ -12,8 +12,8 @@
#include "ceres/numeric_diff_cost_function.h"
// Factors
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_base.h"
namespace wolf {
diff --git a/include/core/ceres_wrapper/local_parametrization_wrapper.h b/include/core/ceres_wrapper/local_parametrization_wrapper.h
index 31a2913ec..cb02cb8f0 100644
--- a/include/core/ceres_wrapper/local_parametrization_wrapper.h
+++ b/include/core/ceres_wrapper/local_parametrization_wrapper.h
@@ -7,7 +7,7 @@ class LocalParametrizationBase;
}
//Ceres includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include "ceres/ceres.h"
namespace wolf {
@@ -38,7 +38,7 @@ using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapp
} // namespace wolf
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
namespace wolf {
diff --git a/include/core/ceres_wrapper/qr_manager.h b/include/core/ceres_wrapper/qr_manager.h
index d4945e066..e2dd40f37 100644
--- a/include/core/ceres_wrapper/qr_manager.h
+++ b/include/core/ceres_wrapper/qr_manager.h
@@ -8,8 +8,8 @@
#ifndef SRC_CERES_WRAPPER_QR_MANAGER_H_
#define SRC_CERES_WRAPPER_QR_MANAGER_H_
-#include "base/solver/solver_manager.h"
-#include "base/solver_suitesparse/sparse_utils.h"
+#include "core/solver/solver_manager.h"
+#include "core/solver_suitesparse/sparse_utils.h"
namespace wolf
{
diff --git a/include/core/ceres_wrapper/solver_manager.h b/include/core/ceres_wrapper/solver_manager.h
index 1bdf40a64..f7bad6f57 100644
--- a/include/core/ceres_wrapper/solver_manager.h
+++ b/include/core/ceres_wrapper/solver_manager.h
@@ -2,9 +2,9 @@
#define SOLVER_MANAGER_H_
//wolf includes
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
namespace wolf {
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index 03b636e81..8152d007c 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -9,7 +9,7 @@
#define FACTORY_H_
// wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
// std
#include <string>
@@ -347,7 +347,7 @@ inline std::string LandmarkFactory::getClass()
// Frames
class TimeStamp;
} // namespace wolf
-#include "base/frame/frame_base.h"
+#include "core/frame/frame_base.h"
namespace wolf{
typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory;
template<>
diff --git a/include/core/common/node_base.h b/include/core/common/node_base.h
index 7ecd72166..7fe50eb60 100644
--- a/include/core/common/node_base.h
+++ b/include/core/common/node_base.h
@@ -2,7 +2,7 @@
#define NODE_BASE_H_
// Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
namespace wolf {
diff --git a/include/core/common/time_stamp.h b/include/core/common/time_stamp.h
index 14ed594f6..947fb19db 100644
--- a/include/core/common/time_stamp.h
+++ b/include/core/common/time_stamp.h
@@ -3,7 +3,7 @@
#define TIME_STAMP_H_
//wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//C, std
#include <sys/time.h>
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index 5e9444da7..3ce328ead 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -10,7 +10,7 @@
// Enable project-specific definitions and macros
#include "internal/config.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
//includes from Eigen lib
#include <Eigen/Dense>
diff --git a/include/core/factor/factor_analytic.h b/include/core/factor/factor_analytic.h
index 14604bdb2..5435fa053 100644
--- a/include/core/factor/factor_analytic.h
+++ b/include/core/factor/factor_analytic.h
@@ -3,7 +3,7 @@
#define FACTOR_ANALYTIC_H_
//Wolf includes
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
#include <Eigen/StdVector>
namespace wolf {
diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 372891cdd..ca8d79357 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -3,8 +3,8 @@
#define FACTOR_AUTODIFF_H_
//Wolf includes
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
// CERES
#include "ceres/jet.h"
diff --git a/include/core/factor/factor_autodiff_distance_3D.h b/include/core/factor/factor_autodiff_distance_3D.h
index 77eb08e2a..52ba73562 100644
--- a/include/core/factor/factor_autodiff_distance_3D.h
+++ b/include/core/factor/factor_autodiff_distance_3D.h
@@ -8,7 +8,7 @@
#ifndef FACTOR_AUTODIFF_DISTANCE_3D_H_
#define FACTOR_AUTODIFF_DISTANCE_3D_H_
-#include "base/factor/factor_autodiff.h"
+#include "core/factor/factor_autodiff.h"
namespace wolf
{
diff --git a/include/core/factor/factor_base.h b/include/core/factor/factor_base.h
index 8d79b0065..2ac41032d 100644
--- a/include/core/factor/factor_base.h
+++ b/include/core/factor/factor_base.h
@@ -7,8 +7,8 @@ class FeatureBase;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
//std includes
@@ -182,11 +182,11 @@ class FactorBase : public NodeBase, public std::enable_shared_from_this<FactorBa
// IMPLEMENTATION //
-#include "base/problem/problem.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_base.h"
-#include "base/sensor/sensor_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/landmark/landmark_base.h"
namespace wolf{
diff --git a/include/core/factor/factor_block_absolute.h b/include/core/factor/factor_block_absolute.h
index 3990a4412..2eed31556 100644
--- a/include/core/factor/factor_block_absolute.h
+++ b/include/core/factor/factor_block_absolute.h
@@ -9,9 +9,9 @@
#define FACTOR_BLOCK_ABSOLUTE_H_
//Wolf includes
-#include "base/factor/factor_analytic.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/factor/factor_analytic.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
namespace wolf {
diff --git a/include/core/factor/factor_container.h b/include/core/factor/factor_container.h
index 7f34ad69f..6ad3e7d0f 100644
--- a/include/core/factor/factor_container.h
+++ b/include/core/factor/factor_container.h
@@ -2,9 +2,9 @@
#define FACTOR_CONTAINER_H_
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/landmark/landmark_container.h"
+#include "core/common/wolf.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/landmark/landmark_container.h"
namespace wolf {
diff --git a/include/core/factor/factor_diff_drive.h b/include/core/factor/factor_diff_drive.h
index 84f535ee7..95c44592d 100644
--- a/include/core/factor/factor_diff_drive.h
+++ b/include/core/factor/factor_diff_drive.h
@@ -9,10 +9,10 @@
#define WOLF_FACTOR_DIFF_DRIVE_H_
//Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/feature/feature_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/feature/feature_diff_drive.h"
+#include "core/capture/capture_wheel_joint_position.h"
namespace
{
diff --git a/include/core/factor/factor_epipolar.h b/include/core/factor/factor_epipolar.h
index 42f0e8558..072164bbe 100644
--- a/include/core/factor/factor_epipolar.h
+++ b/include/core/factor/factor_epipolar.h
@@ -1,7 +1,7 @@
#ifndef FACTOR_EPIPOLAR_H
#define FACTOR_EPIPOLAR_H
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
namespace wolf {
diff --git a/include/core/factor/factor_fix_bias.h b/include/core/factor/factor_fix_bias.h
index 82a137969..6fb889b55 100644
--- a/include/core/factor/factor_fix_bias.h
+++ b/include/core/factor/factor_fix_bias.h
@@ -3,11 +3,11 @@
#define FACTOR_FIX_BIAS_H_
//Wolf includes
-#include "base/capture/capture_IMU.h"
-#include "base/feature/feature_IMU.h"
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/capture/capture_IMU.h"
+#include "core/feature/feature_IMU.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
//#include "ceres/jet.h"
diff --git a/include/core/factor/factor_odom_2D.h b/include/core/factor/factor_odom_2D.h
index 8a9d06747..e5cfd57a6 100644
--- a/include/core/factor/factor_odom_2D.h
+++ b/include/core/factor/factor_odom_2D.h
@@ -2,8 +2,8 @@
#define FACTOR_ODOM_2D_THETA_H_
//Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
//#include "ceres/jet.h"
diff --git a/include/core/factor/factor_odom_2D_analytic.h b/include/core/factor/factor_odom_2D_analytic.h
index 2eb329624..38eaa7fae 100644
--- a/include/core/factor/factor_odom_2D_analytic.h
+++ b/include/core/factor/factor_odom_2D_analytic.h
@@ -2,7 +2,7 @@
#define FACTOR_ODOM_2D_ANALYTIC_H_
//Wolf includes
-#include "base/factor/factor_relative_2D_analytic.h"
+#include "core/factor/factor_relative_2D_analytic.h"
#include <Eigen/StdVector>
namespace wolf {
diff --git a/include/core/factor/factor_odom_3D.h b/include/core/factor/factor_odom_3D.h
index c3a3cfb83..587472541 100644
--- a/include/core/factor/factor_odom_3D.h
+++ b/include/core/factor/factor_odom_3D.h
@@ -8,8 +8,8 @@
#ifndef FACTOR_ODOM_3D_H_
#define FACTOR_ODOM_3D_H_
-#include "base/factor/factor_autodiff.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/math/rotations.h"
namespace wolf
{
diff --git a/include/core/factor/factor_pose_2D.h b/include/core/factor/factor_pose_2D.h
index f1cc286ea..e4caa3b2d 100644
--- a/include/core/factor/factor_pose_2D.h
+++ b/include/core/factor/factor_pose_2D.h
@@ -3,9 +3,9 @@
#define FACTOR_POSE_2D_H_
//Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
//#include "ceres/jet.h"
diff --git a/include/core/factor/factor_pose_3D.h b/include/core/factor/factor_pose_3D.h
index 25273bad2..d36bcdb32 100644
--- a/include/core/factor/factor_pose_3D.h
+++ b/include/core/factor/factor_pose_3D.h
@@ -3,9 +3,9 @@
#define FACTOR_POSE_3D_H_
//Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/include/core/factor/factor_quaternion_absolute.h b/include/core/factor/factor_quaternion_absolute.h
index abb419afa..477db6368 100644
--- a/include/core/factor/factor_quaternion_absolute.h
+++ b/include/core/factor/factor_quaternion_absolute.h
@@ -9,10 +9,10 @@
#define FACTOR_QUATERNION_ABSOLUTE_H_
//Wolf includes
-#include "base/factor/factor_autodiff.h"
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/frame/frame_base.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/frame/frame_base.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/include/core/factor/factor_relative_2D_analytic.h b/include/core/factor/factor_relative_2D_analytic.h
index 5c3aec233..c5636621c 100644
--- a/include/core/factor/factor_relative_2D_analytic.h
+++ b/include/core/factor/factor_relative_2D_analytic.h
@@ -2,8 +2,8 @@
#define FACTOR_RELATIVE_2D_ANALYTIC_H_
//Wolf includes
-#include "base/factor/factor_analytic.h"
-#include "base/landmark/landmark_base.h"
+#include "core/factor/factor_analytic.h"
+#include "core/landmark/landmark_base.h"
#include <Eigen/StdVector>
namespace wolf {
diff --git a/include/core/feature/feature_base.h b/include/core/feature/feature_base.h
index 8e8a96ae3..e49338840 100644
--- a/include/core/feature/feature_base.h
+++ b/include/core/feature/feature_base.h
@@ -8,8 +8,8 @@ class FactorBase;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
//std includes
@@ -103,7 +103,7 @@ class FeatureBase : public NodeBase, public std::enable_shared_from_this<Feature
// IMPLEMENTATION
-#include "base/factor/factor_base.h"
+#include "core/factor/factor_base.h"
namespace wolf{
diff --git a/include/core/feature/feature_diff_drive.h b/include/core/feature/feature_diff_drive.h
index 52877f4f5..6052c2440 100644
--- a/include/core/feature/feature_diff_drive.h
+++ b/include/core/feature/feature_diff_drive.h
@@ -9,7 +9,7 @@
#define _WOLF_FEATURE_DIFF_DRIVE_H_
//Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
namespace wolf {
diff --git a/include/core/feature/feature_match.h b/include/core/feature/feature_match.h
index 92e456019..7fbb0e204 100644
--- a/include/core/feature/feature_match.h
+++ b/include/core/feature/feature_match.h
@@ -2,7 +2,7 @@
#define FEATURE_MATCH_H_
// Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//wolf nampseace
namespace wolf {
diff --git a/include/core/feature/feature_motion.h b/include/core/feature/feature_motion.h
index 92331b6b1..747151033 100644
--- a/include/core/feature/feature_motion.h
+++ b/include/core/feature/feature_motion.h
@@ -8,8 +8,8 @@
#ifndef FEATURE_MOTION_H_
#define FEATURE_MOTION_H_
-#include "base/feature/feature_base.h"
-#include "base/capture/capture_motion.h"
+#include "core/feature/feature_base.h"
+#include "core/capture/capture_motion.h"
namespace wolf
{
diff --git a/include/core/feature/feature_odom_2D.h b/include/core/feature/feature_odom_2D.h
index 27db3e538..5df94a665 100644
--- a/include/core/feature/feature_odom_2D.h
+++ b/include/core/feature/feature_odom_2D.h
@@ -2,9 +2,9 @@
#define FEATURE_ODOM_2D_H_
//Wolf includes
-#include "base/feature/feature_base.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_odom_2D_analytic.h"
+#include "core/feature/feature_base.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_odom_2D_analytic.h"
//std includes
diff --git a/include/core/feature/feature_pose.h b/include/core/feature/feature_pose.h
index 1431f9207..3fe413f6a 100644
--- a/include/core/feature/feature_pose.h
+++ b/include/core/feature/feature_pose.h
@@ -2,7 +2,7 @@
#define FEATURE_POSE_H_
//Wolf includes
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
//std includes
//
diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index ffa84d74d..392f5b678 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -10,9 +10,9 @@ class StateBlock;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
+#include "core/common/node_base.h"
//std includes
@@ -155,10 +155,10 @@ class FrameBase : public NodeBase, public std::enable_shared_from_this<FrameBase
// IMPLEMENTATION //
-#include "base/trajectory/trajectory_base.h"
-#include "base/capture/capture_base.h"
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/capture/capture_base.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
namespace wolf {
diff --git a/include/core/hardware/hardware_base.h b/include/core/hardware/hardware_base.h
index fb688410b..1b4149a6d 100644
--- a/include/core/hardware/hardware_base.h
+++ b/include/core/hardware/hardware_base.h
@@ -8,8 +8,8 @@ class SensorBase;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
namespace wolf {
diff --git a/include/core/landmark/landmark_base.h b/include/core/landmark/landmark_base.h
index dad1e3a7c..9dac56bb3 100644
--- a/include/core/landmark/landmark_base.h
+++ b/include/core/landmark/landmark_base.h
@@ -8,9 +8,9 @@ class StateBlock;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
//std includes
@@ -96,9 +96,9 @@ class LandmarkBase : public NodeBase, public std::enable_shared_from_this<Landma
}
-#include "base/map/map_base.h"
-#include "base/factor/factor_base.h"
-#include "base/state_block/state_block.h"
+#include "core/map/map_base.h"
+#include "core/factor/factor_base.h"
+#include "core/state_block/state_block.h"
namespace wolf{
diff --git a/include/core/landmark/landmark_match.h b/include/core/landmark/landmark_match.h
index bae0061e2..23d52ab39 100644
--- a/include/core/landmark/landmark_match.h
+++ b/include/core/landmark/landmark_match.h
@@ -2,7 +2,7 @@
#define LANDMARK_MATCH_H_
// Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//wolf nampseace
namespace wolf {
diff --git a/include/core/map/map_base.h b/include/core/map/map_base.h
index c3d6eb8c9..90ad78545 100644
--- a/include/core/map/map_base.h
+++ b/include/core/map/map_base.h
@@ -9,8 +9,8 @@ class LandmarkBase;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
//std includes
diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 5a84f0c7e..0515376e4 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -8,8 +8,8 @@
#ifndef SE3_H_
#define SE3_H_
-#include "base/common/wolf.h"
-#include "base/math/rotations.h"
+#include "core/common/wolf.h"
+#include "core/math/rotations.h"
/*
* The functions in this file are related to manipulations of Delta motion magnitudes used in 3D motion.
diff --git a/include/core/math/pinhole_tools.h b/include/core/math/pinhole_tools.h
index 9fed8ba7c..ef226651e 100644
--- a/include/core/math/pinhole_tools.h
+++ b/include/core/math/pinhole_tools.h
@@ -11,7 +11,7 @@
*
*/
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include <iostream>
diff --git a/include/core/math/rotations.h b/include/core/math/rotations.h
index fc0e8b2bb..6e2630efe 100644
--- a/include/core/math/rotations.h
+++ b/include/core/math/rotations.h
@@ -8,7 +8,7 @@
#ifndef ROTATIONS_H_
#define ROTATIONS_H_
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
namespace wolf
{
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index 938074f78..568c73d4d 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -14,9 +14,9 @@ struct ProcessorParamsBase;
}
//wolf includes
-#include "base/common/wolf.h"
-#include "base/frame/frame_base.h"
-#include "base/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_block.h"
// std includes
#include <mutex>
diff --git a/include/core/processor/diff_drive_tools.h b/include/core/processor/diff_drive_tools.h
index 92883eafa..50c20c0a0 100644
--- a/include/core/processor/diff_drive_tools.h
+++ b/include/core/processor/diff_drive_tools.h
@@ -8,7 +8,7 @@
#ifndef _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_
#define _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_
-#include "base/utils/eigen_assert.h"
+#include "core/utils/eigen_assert.h"
namespace wolf {
@@ -419,6 +419,6 @@ Eigen::Matrix<typename T::Scalar, 2, 2> computeWheelJointPositionCov(
} // namespace wolf
-#include "base/processor/diff_drive_tools.hpp"
+#include "core/processor/diff_drive_tools.hpp"
#endif /* _WOLF_PROCESSOR_DIFF_DRIVE_TOOLS_H_ */
diff --git a/include/core/processor/motion_buffer.h b/include/core/processor/motion_buffer.h
index 40fbd2925..9b64ff562 100644
--- a/include/core/processor/motion_buffer.h
+++ b/include/core/processor/motion_buffer.h
@@ -8,8 +8,8 @@
#ifndef SRC_MOTIONBUFFER_H_
#define SRC_MOTIONBUFFER_H_
-#include "base/common/wolf.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/time_stamp.h"
#include <list>
#include <algorithm>
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 5d68c43c7..45b3500de 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -7,10 +7,10 @@ class SensorBase;
}
// Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
-#include "base/frame/frame_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
+#include "core/frame/frame_base.h"
// std
#include <memory>
@@ -207,8 +207,8 @@ inline void ProcessorBase::setVotingActive(bool _voting_active)
}
-#include "base/sensor/sensor_base.h"
-#include "base/factor/factor_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/factor/factor_base.h"
namespace wolf {
diff --git a/include/core/processor/processor_capture_holder.h b/include/core/processor/processor_capture_holder.h
index 9067b4cae..1746fd548 100644
--- a/include/core/processor/processor_capture_holder.h
+++ b/include/core/processor/processor_capture_holder.h
@@ -9,9 +9,9 @@
#define _WOLF_PROCESSOR_CAPTURE_HOLDER_H_
//Wolf includes
-#include "base/processor/processor_base.h"
-#include "base/capture/capture_base.h"
-#include "base/capture/capture_buffer.h"
+#include "core/processor/processor_base.h"
+#include "core/capture/capture_base.h"
+#include "core/capture/capture_buffer.h"
namespace wolf {
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 4ea5181b8..e74102a0a 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -8,8 +8,8 @@
#ifndef _WOLF_PROCESSOR_DIFF_DRIVE_H_
#define _WOLF_PROCESSOR_DIFF_DRIVE_H_
-#include "base/processor/processor_motion.h"
-#include "base/processor/diff_drive_tools.h"
+#include "core/processor/processor_motion.h"
+#include "core/processor/diff_drive_tools.h"
namespace wolf {
diff --git a/include/core/processor/processor_factory.h b/include/core/processor/processor_factory.h
index 390a66bec..8b2fdb247 100644
--- a/include/core/processor/processor_factory.h
+++ b/include/core/processor/processor_factory.h
@@ -15,7 +15,7 @@ struct ProcessorParamsBase;
}
// wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
// std
@@ -125,8 +125,8 @@ namespace wolf
* and bind it to a SensorOdom2D:
*
* \code
- * #include "base/sensor/sensor_odom_2D.h" // provides SensorOdom2D and SensorFactory
- * #include "base/processor/processor_odom_2D.h" // provides ProcessorOdom2D and ProcessorFactory
+ * #include "core/sensor/sensor_odom_2D.h" // provides SensorOdom2D and SensorFactory
+ * #include "core/processor/processor_odom_2D.h" // provides ProcessorOdom2D and ProcessorFactory
*
* // Note: SensorOdom2D::create() is already registered, automatically.
* // Note: ProcessorOdom2D::create() is already registered, automatically.
@@ -153,9 +153,9 @@ namespace wolf
* The example 1 above can be accomplished as follows (we obviated for simplicity all the parameter creation),
*
* \code
- * #include "base/sensor/sensor_odom_2D.h"
- * #include "base/processor/processor_odom_2D.h"
- * #include "base/problem/problem.h"
+ * #include "core/sensor/sensor_odom_2D.h"
+ * #include "core/processor/processor_odom_2D.h"
+ * #include "core/problem/problem.h"
*
* Problem problem(FRM_PO_2D);
* problem.installSensor ( "ODOM 2D" , "Main odometer" , extrinsics , &intrinsics );
diff --git a/include/core/processor/processor_frame_nearest_neighbor_filter.h b/include/core/processor/processor_frame_nearest_neighbor_filter.h
index ceb494253..ea4963588 100644
--- a/include/core/processor/processor_frame_nearest_neighbor_filter.h
+++ b/include/core/processor/processor_frame_nearest_neighbor_filter.h
@@ -2,8 +2,8 @@
#define _WOLF_SRC_PROCESSOR_FRAME_NEAREST_NEIGHBOR_FILTER_H
// Wolf related headers
-#include "base/processor/processor_loopclosure_base.h"
-#include "base/state_block/state_block.h"
+#include "core/processor/processor_loopclosure_base.h"
+#include "core/state_block/state_block.h"
namespace wolf{
diff --git a/include/core/processor/processor_logging.h b/include/core/processor/processor_logging.h
index d41d7ce30..de1d5ead8 100644
--- a/include/core/processor/processor_logging.h
+++ b/include/core/processor/processor_logging.h
@@ -9,7 +9,7 @@
#define _WOLF_PROCESSOR_LOGGING_H_
/// @brief un-comment for IDE highlights.
-//#include "base/utils/logging.h"
+//#include "core/utils/logging.h"
#define __INTERNAL_WOLF_ASSERT_PROCESSOR \
static_assert(std::is_base_of<ProcessorBase, \
diff --git a/include/core/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h
index a9d8e878e..00c63856d 100644
--- a/include/core/processor/processor_loopclosure_base.h
+++ b/include/core/processor/processor_loopclosure_base.h
@@ -2,7 +2,7 @@
#define _WOLF_PROCESSOR_LOOPCLOSURE_BASE_H
// Wolf related headers
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
namespace wolf{
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 46af97f52..b54c43384 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -9,9 +9,9 @@
#define PROCESSOR_MOTION_H_
// Wolf
-#include "base/capture/capture_motion.h"
-#include "base/processor/processor_base.h"
-#include "base/common/time_stamp.h"
+#include "core/capture/capture_motion.h"
+#include "core/processor/processor_base.h"
+#include "core/common/time_stamp.h"
// std
#include <iomanip>
@@ -476,7 +476,7 @@ class ProcessorMotion : public ProcessorBase
}
-#include "base/frame/frame_base.h"
+#include "core/frame/frame_base.h"
namespace wolf{
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index ae73d0e93..96637096c 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -8,10 +8,10 @@
#ifndef SRC_PROCESSOR_ODOM_2D_H_
#define SRC_PROCESSOR_ODOM_2D_H_
-#include "base/processor/processor_motion.h"
-#include "base/capture/capture_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/math/rotations.h"
+#include "core/processor/processor_motion.h"
+#include "core/capture/capture_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/include/core/processor/processor_odom_3D.h b/include/core/processor/processor_odom_3D.h
index 5602eb383..8d3f86397 100644
--- a/include/core/processor/processor_odom_3D.h
+++ b/include/core/processor/processor_odom_3D.h
@@ -8,11 +8,11 @@
#ifndef SRC_PROCESSOR_ODOM_3D_H_
#define SRC_PROCESSOR_ODOM_3D_H_
-#include "base/processor/processor_motion.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/capture/capture_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/math/rotations.h"
+#include "core/processor/processor_motion.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/capture/capture_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/math/rotations.h"
#include <cmath>
namespace wolf {
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 38dc26b30..dab99e798 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -8,8 +8,8 @@
#ifndef SRC_PROCESSOR_TRACKER_H_
#define SRC_PROCESSOR_TRACKER_H_
-#include "base/processor/processor_base.h"
-#include "base/capture/capture_motion.h"
+#include "core/processor/processor_base.h"
+#include "core/capture/capture_motion.h"
namespace wolf {
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 17da3af43..4fa99aa26 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -9,11 +9,11 @@
#define PROCESSOR_TRACKER_FEATURE_H_
//wolf includes
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_base.h"
-#include "base/feature/feature_match.h"
-#include "base/processor/track_matrix.h"
-#include "base/common/wolf.h"
+#include "core/processor/processor_tracker.h"
+#include "core/capture/capture_base.h"
+#include "core/feature/feature_match.h"
+#include "core/processor/track_matrix.h"
+#include "core/common/wolf.h"
namespace wolf
{
diff --git a/include/core/processor/processor_tracker_feature_dummy.h b/include/core/processor/processor_tracker_feature_dummy.h
index c0b40edbe..58ee217b9 100644
--- a/include/core/processor/processor_tracker_feature_dummy.h
+++ b/include/core/processor/processor_tracker_feature_dummy.h
@@ -8,9 +8,9 @@
#ifndef PROCESSOR_TRACKER_FEATURE_DUMMY_H_
#define PROCESSOR_TRACKER_FEATURE_DUMMY_H_
-#include "base/common/wolf.h"
-#include "base/processor/processor_tracker_feature.h"
-#include "base/factor/factor_epipolar.h"
+#include "core/common/wolf.h"
+#include "core/processor/processor_tracker_feature.h"
+#include "core/factor/factor_epipolar.h"
namespace wolf
{
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 856bc1194..23c2be119 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -9,9 +9,9 @@
#define PROCESSOR_TRACKER_LANDMARK_H_
//wolf includes
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_base.h"
-#include "base/landmark/landmark_match.h"
+#include "core/processor/processor_tracker.h"
+#include "core/capture/capture_base.h"
+#include "core/landmark/landmark_match.h"
namespace wolf
{
@@ -169,6 +169,6 @@ class ProcessorTrackerLandmark : public ProcessorTracker
}// namespace wolf
// IMPLEMENTATION
-#include "base/landmark/landmark_base.h"
+#include "core/landmark/landmark_base.h"
#endif /* PROCESSOR_TRACKER_LANDMARK_H_ */
diff --git a/include/core/processor/track_matrix.h b/include/core/processor/track_matrix.h
index 4fc5af1d0..511f22a09 100644
--- a/include/core/processor/track_matrix.h
+++ b/include/core/processor/track_matrix.h
@@ -8,8 +8,8 @@
#ifndef TRACK_MATRIX_H_
#define TRACK_MATRIX_H_
-#include "base/feature/feature_base.h"
-#include "base/capture/capture_base.h"
+#include "core/feature/feature_base.h"
+#include "core/capture/capture_base.h"
#include <map>
#include <vector>
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 4d9910ff2..af0c7adfe 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -9,9 +9,9 @@ class StateBlock;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
-#include "base/common/time_stamp.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
+#include "core/common/time_stamp.h"
//std includes
@@ -190,10 +190,10 @@ class SensorBase : public NodeBase, public std::enable_shared_from_this<SensorBa
}
-#include "base/problem/problem.h"
-#include "base/hardware/hardware_base.h"
-#include "base/capture/capture_base.h"
-#include "base/processor/processor_base.h"
+#include "core/problem/problem.h"
+#include "core/hardware/hardware_base.h"
+#include "core/capture/capture_base.h"
+#include "core/processor/processor_base.h"
namespace wolf{
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 4a3882974..5cd9e848d 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -9,8 +9,8 @@
#define WOLF_SENSOR_DIFF_DRIVE_H_
//wolf includes
-#include "base/sensor/sensor_base.h"
-#include "base/processor/diff_drive_tools.h"
+#include "core/sensor/sensor_base.h"
+#include "core/processor/diff_drive_tools.h"
namespace wolf {
diff --git a/include/core/sensor/sensor_factory.h b/include/core/sensor/sensor_factory.h
index d74c9b1ab..abe8b6418 100644
--- a/include/core/sensor/sensor_factory.h
+++ b/include/core/sensor/sensor_factory.h
@@ -15,7 +15,7 @@ struct IntrinsicsBase;
}
// wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
namespace wolf
{
@@ -174,7 +174,7 @@ namespace wolf
*
* \code
* #include "sensor_factory.h"
- * #include "base/sensor/sensor_camera.h" // provides SensorCamera
+ * #include "core/sensor/sensor_camera.h" // provides SensorCamera
*
* // Note: SensorCamera::create() is already registered, automatically.
*
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index f1528ec37..d7eec490c 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -3,7 +3,7 @@
#define SENSOR_ODOM_2D_H_
//wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
namespace wolf {
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index be3694b2d..af3301e1a 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -9,7 +9,7 @@
#define SRC_SENSOR_ODOM_3D_H_
//wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
namespace wolf {
diff --git a/include/core/solver/solver_manager.h b/include/core/solver/solver_manager.h
index 28e43acfa..b6c6c9e33 100644
--- a/include/core/solver/solver_manager.h
+++ b/include/core/solver/solver_manager.h
@@ -2,9 +2,9 @@
#define _WOLF_SOLVER_MANAGER_H_
//wolf includes
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
namespace wolf {
diff --git a/include/core/solver_suitesparse/cost_function_base.h b/include/core/solver_suitesparse/cost_function_base.h
index 25d891b95..bf8f4ebcb 100644
--- a/include/core/solver_suitesparse/cost_function_base.h
+++ b/include/core/solver_suitesparse/cost_function_base.h
@@ -8,7 +8,7 @@
#ifndef TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
#define TRUNK_SRC_SOLVER_COST_FUNCTION_BASE_H_
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include <Eigen/StdVector>
class CostFunctionBase
diff --git a/include/core/solver_suitesparse/cost_function_sparse.h b/include/core/solver_suitesparse/cost_function_sparse.h
index 3ed0eb5e3..806e4d040 100644
--- a/include/core/solver_suitesparse/cost_function_sparse.h
+++ b/include/core/solver_suitesparse/cost_function_sparse.h
@@ -2,7 +2,7 @@
#define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_H_
//wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include "cost_function_sparse_base.h"
// CERES JET
diff --git a/include/core/solver_suitesparse/cost_function_sparse_base.h b/include/core/solver_suitesparse/cost_function_sparse_base.h
index d90a0577e..0a1d9b3a8 100644
--- a/include/core/solver_suitesparse/cost_function_sparse_base.h
+++ b/include/core/solver_suitesparse/cost_function_sparse_base.h
@@ -9,7 +9,7 @@
#define TRUNK_SRC_SOLVER_COST_FUNCTION_SPARSE_BASE_H_
//wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include "cost_function_base.h"
// CERES JET
diff --git a/include/core/solver_suitesparse/qr_solver.h b/include/core/solver_suitesparse/qr_solver.h
index 0d7f49ccd..452971da5 100644
--- a/include/core/solver_suitesparse/qr_solver.h
+++ b/include/core/solver_suitesparse/qr_solver.h
@@ -13,12 +13,12 @@
#include <ctime>
//Wolf includes
-#include "base/state_block/state_block.h"
+#include "core/state_block/state_block.h"
#include "../factor_sparse.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_corner_2D.h"
-#include "base/factor/factor_container.h"
-#include "base/solver_suitesparse/sparse_utils.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_corner_2D.h"
+#include "core/factor/factor_container.h"
+#include "core/solver_suitesparse/sparse_utils.h"
// wolf solver
#include "solver/ccolamd_ordering.h"
@@ -28,7 +28,7 @@
#include <eigen3/Eigen/OrderingMethods>
#include <eigen3/Eigen/SparseQR>
#include <Eigen/StdVector>
-#include "base/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_2D.h"
namespace wolf
{
diff --git a/include/core/solver_suitesparse/solver_manager.h b/include/core/solver_suitesparse/solver_manager.h
index 3d1ef2a27..bb3863e11 100644
--- a/include/core/solver_suitesparse/solver_manager.h
+++ b/include/core/solver_suitesparse/solver_manager.h
@@ -2,9 +2,9 @@
#define CERES_MANAGER_H_
//wolf includes
-#include "base/factor/factor_GPS_2D.h"
-#include "base/common/wolf.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_GPS_2D.h"
+#include "core/common/wolf.h"
+#include "core/state_block/state_block.h"
#include "../state_point.h"
#include "../state_complex_angle.h"
#include "../state_theta.h"
diff --git a/include/core/state_block/local_parametrization_angle.h b/include/core/state_block/local_parametrization_angle.h
index 3644c83ec..5b146d84d 100644
--- a/include/core/state_block/local_parametrization_angle.h
+++ b/include/core/state_block/local_parametrization_angle.h
@@ -8,8 +8,8 @@
#ifndef LOCAL_PARAMETRIZATION_ANGLE_H_
#define LOCAL_PARAMETRIZATION_ANGLE_H_
-#include "base/state_block/local_parametrization_base.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/math/rotations.h"
namespace wolf
{
diff --git a/include/core/state_block/local_parametrization_base.h b/include/core/state_block/local_parametrization_base.h
index cbc0cbb13..94ed61f62 100644
--- a/include/core/state_block/local_parametrization_base.h
+++ b/include/core/state_block/local_parametrization_base.h
@@ -8,7 +8,7 @@
#ifndef LOCAL_PARAMETRIZATION_BASE_H_
#define LOCAL_PARAMETRIZATION_BASE_H_
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
namespace wolf {
diff --git a/include/core/state_block/local_parametrization_homogeneous.h b/include/core/state_block/local_parametrization_homogeneous.h
index cd2076d63..4729bb3ff 100644
--- a/include/core/state_block/local_parametrization_homogeneous.h
+++ b/include/core/state_block/local_parametrization_homogeneous.h
@@ -8,7 +8,7 @@
#ifndef LOCALPARAMETRIZATIONHOMOGENEOUS_H_
#define LOCALPARAMETRIZATIONHOMOGENEOUS_H_
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
namespace wolf {
diff --git a/include/core/state_block/local_parametrization_polyline_extreme.h b/include/core/state_block/local_parametrization_polyline_extreme.h
index 0e0cc29cd..ce025e740 100644
--- a/include/core/state_block/local_parametrization_polyline_extreme.h
+++ b/include/core/state_block/local_parametrization_polyline_extreme.h
@@ -8,7 +8,7 @@
#ifndef LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
#define LOCAL_PARAMETRIZATION_POLYLINE_EXTREME_H_
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
namespace wolf {
diff --git a/include/core/state_block/local_parametrization_quaternion.h b/include/core/state_block/local_parametrization_quaternion.h
index c28a05d49..3076568d5 100644
--- a/include/core/state_block/local_parametrization_quaternion.h
+++ b/include/core/state_block/local_parametrization_quaternion.h
@@ -8,7 +8,7 @@
#ifndef LOCAL_PARAMETRIZATION_QUATERNION_H_
#define LOCAL_PARAMETRIZATION_QUATERNION_H_
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
namespace wolf {
diff --git a/include/core/state_block/state_angle.h b/include/core/state_block/state_angle.h
index ae5133b32..635fd6be7 100644
--- a/include/core/state_block/state_angle.h
+++ b/include/core/state_block/state_angle.h
@@ -8,8 +8,8 @@
#ifndef STATE_ANGLE_H_
#define STATE_ANGLE_H_
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_angle.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_angle.h"
namespace wolf
{
diff --git a/include/core/state_block/state_block.h b/include/core/state_block/state_block.h
index 86c94d6ce..01fa0bc31 100644
--- a/include/core/state_block/state_block.h
+++ b/include/core/state_block/state_block.h
@@ -9,7 +9,7 @@ class LocalParametrizationBase;
}
//Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//std includes
#include <iostream>
@@ -154,9 +154,9 @@ public:
} // namespace wolf
// IMPLEMENTATION
-#include "base/state_block/local_parametrization_base.h"
-#include "base/common/node_base.h"
-#include "base/problem/problem.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/common/node_base.h"
+#include "core/problem/problem.h"
namespace wolf {
diff --git a/include/core/state_block/state_homogeneous_3D.h b/include/core/state_block/state_homogeneous_3D.h
index 369e14f43..c71e3c7f1 100644
--- a/include/core/state_block/state_homogeneous_3D.h
+++ b/include/core/state_block/state_homogeneous_3D.h
@@ -8,8 +8,8 @@
#ifndef SRC_STATE_HOMOGENEOUS_3D_H_
#define SRC_STATE_HOMOGENEOUS_3D_H_
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_homogeneous.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
namespace wolf {
diff --git a/include/core/state_block/state_quaternion.h b/include/core/state_block/state_quaternion.h
index f7ad39f2d..66b23c050 100644
--- a/include/core/state_block/state_quaternion.h
+++ b/include/core/state_block/state_quaternion.h
@@ -8,8 +8,8 @@
#ifndef SRC_STATE_QUATERNION_H_
#define SRC_STATE_QUATERNION_H_
-#include "base/state_block/state_block.h"
-#include "base/state_block/local_parametrization_quaternion.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/local_parametrization_quaternion.h"
namespace wolf {
diff --git a/include/core/trajectory/trajectory_base.h b/include/core/trajectory/trajectory_base.h
index 37f9762c7..3ae3420a5 100644
--- a/include/core/trajectory/trajectory_base.h
+++ b/include/core/trajectory/trajectory_base.h
@@ -10,8 +10,8 @@ class TimeStamp;
}
//Wolf includes
-#include "base/common/wolf.h"
-#include "base/common/node_base.h"
+#include "core/common/wolf.h"
+#include "core/common/node_base.h"
//std includes
diff --git a/include/core/utils/eigen_predicates.h b/include/core/utils/eigen_predicates.h
index bc0ab9322..41dddac1d 100644
--- a/include/core/utils/eigen_predicates.h
+++ b/include/core/utils/eigen_predicates.h
@@ -8,7 +8,7 @@
#ifndef _WOLF_EIGEN_PREDICATES_H_
#define _WOLF_EIGEN_PREDICATES_H_
-#include "base/math/rotations.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/include/core/utils/logging.h b/include/core/utils/logging.h
index 088a82152..b59a96c31 100644
--- a/include/core/utils/logging.h
+++ b/include/core/utils/logging.h
@@ -17,7 +17,7 @@
#include "spdlog/fmt/bundled/ostream.h"
// Wolf includes
-#include "base/utils/singleton.h"
+#include "core/utils/singleton.h"
namespace wolf {
namespace internal {
diff --git a/serialization/cereal/serialization_local_parametrization_base.h b/serialization/cereal/serialization_local_parametrization_base.h
index 1385e1af0..b43c35673 100644
--- a/serialization/cereal/serialization_local_parametrization_base.h
+++ b/serialization/cereal/serialization_local_parametrization_base.h
@@ -1,7 +1,7 @@
#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_H_
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
#include <cereal/cereal.hpp>
#include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_local_parametrization_homogeneous.h b/serialization/cereal/serialization_local_parametrization_homogeneous.h
index 2b36232d5..9fcc656d5 100644
--- a/serialization/cereal/serialization_local_parametrization_homogeneous.h
+++ b/serialization/cereal/serialization_local_parametrization_homogeneous.h
@@ -1,7 +1,7 @@
#ifndef _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
#define _WOLF_IO_CEREAL_LOCAL_PARAMETRIZATION_BASE_HOMOGENEOUS_H_
-#include "base/local_parametrization_homogeneous.h"
+#include "core/local_parametrization_homogeneous.h"
#include "serialization_local_parametrization_base.h"
diff --git a/serialization/cereal/serialization_local_parametrization_quaternion.h b/serialization/cereal/serialization_local_parametrization_quaternion.h
index 95c71f4c2..66fe30a36 100644
--- a/serialization/cereal/serialization_local_parametrization_quaternion.h
+++ b/serialization/cereal/serialization_local_parametrization_quaternion.h
@@ -1,7 +1,7 @@
#ifndef WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
#define WOLF_IO_SERIALIZATION_LOCAL_PARAMETRIZATION_QUATERNION_H_
-#include "base/local_parametrization_quaternion.h"
+#include "core/local_parametrization_quaternion.h"
#include "serialization_local_parametrization_base.h"
diff --git a/serialization/cereal/serialization_node_base.h b/serialization/cereal/serialization_node_base.h
index 5a0a039a3..a2c592d69 100644
--- a/serialization/cereal/serialization_node_base.h
+++ b/serialization/cereal/serialization_node_base.h
@@ -2,7 +2,7 @@
#define _WOLF_IO_CEREAL_NODE_BASE_H_
// Wolf includes
-#include "base/node_base.h"
+#include "core/node_base.h"
#include <cereal/cereal.hpp>
#include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_processor_odom2d_params.h b/serialization/cereal/serialization_processor_odom2d_params.h
index 2056f6de9..dc0416b94 100644
--- a/serialization/cereal/serialization_processor_odom2d_params.h
+++ b/serialization/cereal/serialization_processor_odom2d_params.h
@@ -2,7 +2,7 @@
#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM2D_PARAMS_H_
// Wolf includes
-#include "base/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
#include "serialization_processor_params_base.h"
namespace cereal {
diff --git a/serialization/cereal/serialization_processor_odom3d_params.h b/serialization/cereal/serialization_processor_odom3d_params.h
index 1556a39e4..d2fd7c077 100644
--- a/serialization/cereal/serialization_processor_odom3d_params.h
+++ b/serialization/cereal/serialization_processor_odom3d_params.h
@@ -2,7 +2,7 @@
#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_ODOM3D_PARAMS_H_
// Wolf includes
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
#include "serialization_processor_params_base.h"
namespace cereal {
diff --git a/serialization/cereal/serialization_processor_params_base.h b/serialization/cereal/serialization_processor_params_base.h
index 2c75b85c9..03ea158c0 100644
--- a/serialization/cereal/serialization_processor_params_base.h
+++ b/serialization/cereal/serialization_processor_params_base.h
@@ -2,7 +2,7 @@
#define _WOLF_SERIALIZATION_CEREAL_PROCESSOR_PARAM_BASE_H_
// Wolf includes
-#include "base/processor/processor_base.h"
+#include "core/processor/processor_base.h"
#include <cereal/cereal.hpp>
#include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_intrinsic_base.h b/serialization/cereal/serialization_sensor_intrinsic_base.h
index 3e3b1cdb4..86b2a9b48 100644
--- a/serialization/cereal/serialization_sensor_intrinsic_base.h
+++ b/serialization/cereal/serialization_sensor_intrinsic_base.h
@@ -2,7 +2,7 @@
#define _WOLF_SERIALIZATION_CEREAL_SENSOR_INTRINSIC_BASE_H_
// Wolf includes
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
#include <cereal/cereal.hpp>
#include <cereal/types/polymorphic.hpp>
diff --git a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
index ccfe569a7..17d4160b3 100644
--- a/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
+++ b/serialization/cereal/serialization_sensor_odom2d_intrinsic.h
@@ -2,7 +2,7 @@
#define _WOLF_SERIALIZATION_CEREAL_SENSOR_ODOM2D_INTRINSIC_H_
// Wolf includes
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
#include "serialization_sensor_intrinsic_base.h"
diff --git a/serialization/cereal/serialization_time_stamp.h b/serialization/cereal/serialization_time_stamp.h
index 6cc9e29c7..f0c978d36 100644
--- a/serialization/cereal/serialization_time_stamp.h
+++ b/serialization/cereal/serialization_time_stamp.h
@@ -2,7 +2,7 @@
#define _WOLF_IO_CEREAL_TIME_STAMP_H_
// Wolf includes
-#include "base/time_stamp.h"
+#include "core/time_stamp.h"
#include <cereal/cereal.hpp>
diff --git a/src/association/association_nnls.cpp b/src/association/association_nnls.cpp
index 5d8286a78..c1f9d97e7 100644
--- a/src/association/association_nnls.cpp
+++ b/src/association/association_nnls.cpp
@@ -1,4 +1,4 @@
-#include "base/association/association_nnls.h"
+#include "core/association/association_nnls.h"
namespace wolf
{
diff --git a/src/association/association_node.cpp b/src/association/association_node.cpp
index 1321dac06..cf8cd4524 100644
--- a/src/association/association_node.cpp
+++ b/src/association/association_node.cpp
@@ -1,5 +1,5 @@
-#include "base/association/association_node.h"
+#include "core/association/association_node.h"
AssociationNode::AssociationNode(const unsigned int _det_idx, const unsigned int _tar_idx, const double _prob, AssociationNode * _un_ptr, bool _is_root) :
is_root_(_is_root),
diff --git a/src/association/association_solver.cpp b/src/association/association_solver.cpp
index f640efa3e..8b2776021 100644
--- a/src/association/association_solver.cpp
+++ b/src/association/association_solver.cpp
@@ -1,5 +1,5 @@
-#include "base/association/association_solver.h"
+#include "core/association/association_solver.h"
namespace wolf
{
diff --git a/src/association/association_tree.cpp b/src/association/association_tree.cpp
index b425f8e5d..94d02cab7 100644
--- a/src/association/association_tree.cpp
+++ b/src/association/association_tree.cpp
@@ -1,5 +1,5 @@
-#include "base/association/association_tree.h"
+#include "core/association/association_tree.h"
namespace wolf
{
diff --git a/src/capture/capture_base.cpp b/src/capture/capture_base.cpp
index 6249c6216..d7d0ed7fd 100644
--- a/src/capture/capture_base.cpp
+++ b/src/capture/capture_base.cpp
@@ -1,5 +1,5 @@
-#include "base/capture/capture_base.h"
-#include "base/sensor/sensor_base.h"
+#include "core/capture/capture_base.h"
+#include "core/sensor/sensor_base.h"
namespace wolf{
diff --git a/src/capture/capture_motion.cpp b/src/capture/capture_motion.cpp
index 439228aa9..be7708738 100644
--- a/src/capture/capture_motion.cpp
+++ b/src/capture/capture_motion.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
namespace wolf
{
diff --git a/src/capture/capture_odom_2D.cpp b/src/capture/capture_odom_2D.cpp
index 99b6e4281..1e073b281 100644
--- a/src/capture/capture_odom_2D.cpp
+++ b/src/capture/capture_odom_2D.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "base/capture/capture_odom_2D.h"
+#include "core/capture/capture_odom_2D.h"
namespace wolf
{
diff --git a/src/capture/capture_odom_3D.cpp b/src/capture/capture_odom_3D.cpp
index 26f4e6d6f..f456b992b 100644
--- a/src/capture/capture_odom_3D.cpp
+++ b/src/capture/capture_odom_3D.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "base/capture/capture_odom_3D.h"
+#include "core/capture/capture_odom_3D.h"
namespace wolf
{
diff --git a/src/capture/capture_pose.cpp b/src/capture/capture_pose.cpp
index 4f5cf88a4..751ab4b7f 100644
--- a/src/capture/capture_pose.cpp
+++ b/src/capture/capture_pose.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
namespace wolf{
diff --git a/src/capture/capture_velocity.cpp b/src/capture/capture_velocity.cpp
index 9c4e7675f..0785e8bae 100644
--- a/src/capture/capture_velocity.cpp
+++ b/src/capture/capture_velocity.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_velocity.h"
+#include "core/capture/capture_velocity.h"
namespace wolf {
diff --git a/src/capture/capture_void.cpp b/src/capture/capture_void.cpp
index 44bf87788..cdc8ce156 100644
--- a/src/capture/capture_void.cpp
+++ b/src/capture/capture_void.cpp
@@ -1,4 +1,4 @@
-#include "base/capture/capture_void.h"
+#include "core/capture/capture_void.h"
namespace wolf {
diff --git a/src/capture/capture_wheel_joint_position.cpp b/src/capture/capture_wheel_joint_position.cpp
index 1531820a0..10532e397 100644
--- a/src/capture/capture_wheel_joint_position.cpp
+++ b/src/capture/capture_wheel_joint_position.cpp
@@ -1,6 +1,6 @@
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/math/rotations.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/src/ceres_wrapper/ceres_manager.cpp b/src/ceres_wrapper/ceres_manager.cpp
index 5871b8fa1..eea16c458 100644
--- a/src/ceres_wrapper/ceres_manager.cpp
+++ b/src/ceres_wrapper/ceres_manager.cpp
@@ -1,9 +1,9 @@
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/ceres_wrapper/create_numeric_diff_cost_function.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/utils/make_unique.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/create_numeric_diff_cost_function.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/utils/make_unique.h"
namespace wolf {
diff --git a/src/ceres_wrapper/local_parametrization_wrapper.cpp b/src/ceres_wrapper/local_parametrization_wrapper.cpp
index 5cade1553..4e92e85a4 100644
--- a/src/ceres_wrapper/local_parametrization_wrapper.cpp
+++ b/src/ceres_wrapper/local_parametrization_wrapper.cpp
@@ -1,4 +1,4 @@
-#include "base/ceres_wrapper/local_parametrization_wrapper.h"
+#include "core/ceres_wrapper/local_parametrization_wrapper.h"
namespace wolf {
diff --git a/src/ceres_wrapper/solver_manager.cpp b/src/ceres_wrapper/solver_manager.cpp
index 72e6e556b..586d76034 100644
--- a/src/ceres_wrapper/solver_manager.cpp
+++ b/src/ceres_wrapper/solver_manager.cpp
@@ -1,7 +1,7 @@
-#include "base/solver/solver_manager.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/solver/solver_manager.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
namespace wolf {
diff --git a/src/common/node_base.cpp b/src/common/node_base.cpp
index 882e70a69..3db2a0798 100644
--- a/src/common/node_base.cpp
+++ b/src/common/node_base.cpp
@@ -1,4 +1,4 @@
-#include "base/common/node_base.h"
+#include "core/common/node_base.h"
namespace wolf {
diff --git a/src/common/time_stamp.cpp b/src/common/time_stamp.cpp
index 3e84bf846..36b9bb017 100644
--- a/src/common/time_stamp.cpp
+++ b/src/common/time_stamp.cpp
@@ -1,5 +1,5 @@
-#include "base/common/time_stamp.h"
+#include "core/common/time_stamp.h"
namespace wolf {
diff --git a/src/examples/solver/test_ccolamd.cpp b/src/examples/solver/test_ccolamd.cpp
index d9eec5b00..48831f651 100644
--- a/src/examples/solver/test_ccolamd.cpp
+++ b/src/examples/solver/test_ccolamd.cpp
@@ -6,7 +6,7 @@
*/
// Wolf includes
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//std includes
#include <cstdlib>
diff --git a/src/examples/solver/test_iQR_wolf2.cpp b/src/examples/solver/test_iQR_wolf2.cpp
index dc4094304..9ad57098e 100644
--- a/src/examples/solver/test_iQR_wolf2.cpp
+++ b/src/examples/solver/test_iQR_wolf2.cpp
@@ -17,9 +17,9 @@
#include <queue>
//Wolf includes
-#include "base/state_block/state_block.h"
-#include "base/factor/factor_base.h"
-#include "base/sensor/sensor_laser_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/factor/factor_base.h"
+#include "core/sensor/sensor_laser_2D.h"
#include "wolf_manager.h"
// wolf solver
@@ -35,7 +35,7 @@
//Ceres includes
#include "glog/logging.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
//laser_scan_utils
#include "iri-algorithms/laser_scan_utils/corner_detector.h"
diff --git a/src/examples/test_2_lasers_offline.cpp b/src/examples/test_2_lasers_offline.cpp
index 9174dc94f..58e91c6d8 100644
--- a/src/examples/test_2_lasers_offline.cpp
+++ b/src/examples/test_2_lasers_offline.cpp
@@ -1,5 +1,5 @@
//std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
#include <cstdlib>
#include <iostream>
#include <fstream>
@@ -17,12 +17,12 @@
#include "glog/logging.h"
//Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// laserscanutils
#include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
//C includes for sleep, time and main args
#include "unistd.h"
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
//faramotics includes
#include "faramotics/dynamicSceneRender.h"
#include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_analytic_odom_factor.cpp b/src/examples/test_analytic_odom_factor.cpp
index 344c284e2..32a2cbc64 100644
--- a/src/examples/test_analytic_odom_factor.cpp
+++ b/src/examples/test_analytic_odom_factor.cpp
@@ -12,8 +12,8 @@
//Wolf includes
#include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// EIGEN
//#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_apriltag.cpp b/src/examples/test_apriltag.cpp
index 75b5804c9..593938e9d 100644
--- a/src/examples/test_apriltag.cpp
+++ b/src/examples/test_apriltag.cpp
@@ -6,14 +6,14 @@
*/
//Wolf
-#include "base/wolf.h"
-#include "base/rotations.h"
-#include "base/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/processor/processor_tracker_landmark_apriltag.h"
-#include "base/capture/capture_image.h"
-#include "base/feature/feature_apriltag.h"
+#include "core/wolf.h"
+#include "core/rotations.h"
+#include "core/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/processor/processor_tracker_landmark_apriltag.h"
+#include "core/capture/capture_image.h"
+#include "core/feature/feature_apriltag.h"
// opencv
#include <opencv2/imgproc/imgproc.hpp>
diff --git a/src/examples/test_autodiff.cpp b/src/examples/test_autodiff.cpp
index a4c75ccde..6fa1e01ed 100644
--- a/src/examples/test_autodiff.cpp
+++ b/src/examples/test_autodiff.cpp
@@ -17,8 +17,8 @@
//Wolf includes
#include "wolf_manager.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
//C includes for sleep, time and main args
#include "unistd.h"
diff --git a/src/examples/test_capture_laser_2D.cpp b/src/examples/test_capture_laser_2D.cpp
index 8ca0e376b..cd5e40239 100644
--- a/src/examples/test_capture_laser_2D.cpp
+++ b/src/examples/test_capture_laser_2D.cpp
@@ -3,7 +3,7 @@
#include <random>
//wolf
-#include "base/capture/capture_laser_2D.h"
+#include "core/capture/capture_laser_2D.h"
// Eigen in std vector
#include <Eigen/StdVector>
diff --git a/src/examples/test_ceres_2_lasers.cpp b/src/examples/test_ceres_2_lasers.cpp
index d12f491de..b090a8a5a 100644
--- a/src/examples/test_ceres_2_lasers.cpp
+++ b/src/examples/test_ceres_2_lasers.cpp
@@ -1,5 +1,5 @@
//std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
#include <cstdlib>
#include <iostream>
#include <fstream>
@@ -17,12 +17,12 @@
#include "glog/logging.h"
//Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_corner.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_corner.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// laserscanutils
#include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
//C includes for sleep, time and main args
#include "unistd.h"
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
//faramotics includes
#include "faramotics/dynamicSceneRender.h"
#include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_ceres_2_lasers_polylines.cpp b/src/examples/test_ceres_2_lasers_polylines.cpp
index 136ba285e..7e83dec25 100644
--- a/src/examples/test_ceres_2_lasers_polylines.cpp
+++ b/src/examples/test_ceres_2_lasers_polylines.cpp
@@ -1,5 +1,5 @@
//std includes
-#include "base/sensor/sensor_GPS_fix.h"
+#include "core/sensor/sensor_GPS_fix.h"
#include <cstdlib>
#include <iostream>
#include <fstream>
@@ -17,12 +17,12 @@
#include "glog/logging.h"
//Wolf includes
-#include "base/problem/problem.h"
-#include "base/processor/processor_tracker_landmark_polyline.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_laser_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/problem/problem.h"
+#include "core/processor/processor_tracker_landmark_polyline.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_laser_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// laserscanutils
#include "laser_scan_utils/line_finder_iterative.h"
@@ -31,7 +31,7 @@
//C includes for sleep, time and main args
#include "unistd.h"
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
//faramotics includes
#include "faramotics/dynamicSceneRender.h"
#include "faramotics/rangeScan2D.h"
diff --git a/src/examples/test_diff_drive.cpp b/src/examples/test_diff_drive.cpp
index 23980071f..21c2a8b94 100644
--- a/src/examples/test_diff_drive.cpp
+++ b/src/examples/test_diff_drive.cpp
@@ -6,11 +6,11 @@
*/
//Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/processor/processor_diff_drive.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/processor/processor_diff_drive.h"
//std
#include <iostream>
diff --git a/src/examples/test_eigen_quaternion.cpp b/src/examples/test_eigen_quaternion.cpp
index d24a715cb..1e85039d7 100644
--- a/src/examples/test_eigen_quaternion.cpp
+++ b/src/examples/test_eigen_quaternion.cpp
@@ -6,7 +6,7 @@
#include <eigen3/Eigen/Geometry>
//Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
int main()
{
diff --git a/src/examples/test_factor_AHP.cpp b/src/examples/test_factor_AHP.cpp
index 75031dff8..10c7610ca 100644
--- a/src/examples/test_factor_AHP.cpp
+++ b/src/examples/test_factor_AHP.cpp
@@ -1,10 +1,10 @@
-#include "base/math/pinhole_tools.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
+#include "core/math/pinhole_tools.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
int main()
{
diff --git a/src/examples/test_factor_imu.cpp b/src/examples/test_factor_imu.cpp
index 3d0483e96..9d7d73379 100644
--- a/src/examples/test_factor_imu.cpp
+++ b/src/examples/test_factor_imu.cpp
@@ -1,14 +1,14 @@
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/capture/capture_pose.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/capture/capture_pose.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/ceres_wrapper/ceres_manager.h"
//#define DEBUG_RESULTS
diff --git a/src/examples/test_factor_odom_3D.cpp b/src/examples/test_factor_odom_3D.cpp
index 77fa4c802..be7a81c4f 100644
--- a/src/examples/test_factor_odom_3D.cpp
+++ b/src/examples/test_factor_odom_3D.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "base/factor/factor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
namespace wolf
{
diff --git a/src/examples/test_faramotics_simulation.cpp b/src/examples/test_faramotics_simulation.cpp
index e095e561d..4414520dc 100644
--- a/src/examples/test_faramotics_simulation.cpp
+++ b/src/examples/test_faramotics_simulation.cpp
@@ -16,10 +16,10 @@
#include "unistd.h"
// wolf
-#include "base/common/wolf.h"
-#include "base/feature/feature_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/feature/feature_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/state_block/state_block.h"
//faramotics includes
#include "faramotics/dynamicSceneRender.h"
diff --git a/src/examples/test_image.cpp b/src/examples/test_image.cpp
index b2b61f520..842a6a14b 100644
--- a/src/examples/test_image.cpp
+++ b/src/examples/test_image.cpp
@@ -1,10 +1,10 @@
// Testing things for the 3D image odometry
//Wolf includes
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/processor/processor_tracker_feature_image.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/processor/processor_tracker_feature_image.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// Vision utils includes
#include <vision_utils.h>
diff --git a/src/examples/test_imuDock.cpp b/src/examples/test_imuDock.cpp
index dab6894d7..c05fbbf9c 100644
--- a/src/examples/test_imuDock.cpp
+++ b/src/examples/test_imuDock.cpp
@@ -5,21 +5,21 @@
* \author: Dinesh Atchuthan
*/
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
//Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
//std
#include <iostream>
#include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
#define OUTPUT_RESULTS
//#define ADD_KF3
diff --git a/src/examples/test_imuDock_autoKFs.cpp b/src/examples/test_imuDock_autoKFs.cpp
index 43a54d654..039615445 100644
--- a/src/examples/test_imuDock_autoKFs.cpp
+++ b/src/examples/test_imuDock_autoKFs.cpp
@@ -5,21 +5,21 @@
* \author: Dinesh Atchuthan
*/
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
//Factors headers
-#include "base/factor/factor_fix_bias.h"
+#include "core/factor/factor_fix_bias.h"
//std
#include <iostream>
#include <fstream>
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
#define OUTPUT_RESULTS
//#define AUTO_KFS
diff --git a/src/examples/test_imuPlateform_Offline.cpp b/src/examples/test_imuPlateform_Offline.cpp
index 4b923de89..e0e4e4778 100644
--- a/src/examples/test_imuPlateform_Offline.cpp
+++ b/src/examples/test_imuPlateform_Offline.cpp
@@ -1,15 +1,15 @@
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
//std
#include <iostream>
diff --git a/src/examples/test_imu_constrained0.cpp b/src/examples/test_imu_constrained0.cpp
index e542e18e0..817b08a14 100644
--- a/src/examples/test_imu_constrained0.cpp
+++ b/src/examples/test_imu_constrained0.cpp
@@ -1,15 +1,15 @@
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
//std
#include <iostream>
diff --git a/src/examples/test_kf_callback.cpp b/src/examples/test_kf_callback.cpp
index 05bd16597..ea1079d75 100644
--- a/src/examples/test_kf_callback.cpp
+++ b/src/examples/test_kf_callback.cpp
@@ -5,10 +5,10 @@
* Author: jsola
*/
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
int main()
{
diff --git a/src/examples/test_map_yaml.cpp b/src/examples/test_map_yaml.cpp
index 2dd5ab64d..c4ba44c55 100644
--- a/src/examples/test_map_yaml.cpp
+++ b/src/examples/test_map_yaml.cpp
@@ -5,13 +5,13 @@
* \author: jsola
*/
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_polyline_2D.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/state_block/state_block.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_polyline_2D.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/state_block/state_block.h"
+#include "core/yaml/yaml_conversion.h"
#include <iostream>
using namespace wolf;
diff --git a/src/examples/test_mpu.cpp b/src/examples/test_mpu.cpp
index 1fbed214f..f2d5bbade 100644
--- a/src/examples/test_mpu.cpp
+++ b/src/examples/test_mpu.cpp
@@ -6,11 +6,11 @@
*/
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
#include <iostream>
#include <fstream>
#include <iomanip>
@@ -18,8 +18,8 @@
#include <cmath>
#include <termios.h>
#include <fcntl.h>
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
#define DEBUG_RESULTS
#define FROM_FILE
diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp
index 33ec4cabb..ec77aedee 100644
--- a/src/examples/test_processor_imu.cpp
+++ b/src/examples/test_processor_imu.cpp
@@ -6,13 +6,13 @@
*/
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_IMU.h"
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/capture/capture_IMU.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_IMU.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
#include <iostream>
#include <fstream>
#include <iomanip>
diff --git a/src/examples/test_processor_imu_jacobians.cpp b/src/examples/test_processor_imu_jacobians.cpp
index 22c797d6d..988244d15 100644
--- a/src/examples/test_processor_imu_jacobians.cpp
+++ b/src/examples/test_processor_imu_jacobians.cpp
@@ -6,13 +6,13 @@
*/
//Wolf
-#include "base/capture/capture_IMU.h"
-#include "base/sensor/sensor_IMU.h"
+#include "core/capture/capture_IMU.h"
+#include "core/sensor/sensor_IMU.h"
#include <test/processor_IMU_UnitTester.h>
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
#include <iostream>
#include <fstream>
#include <iomanip>
diff --git a/src/examples/test_processor_odom_3D.cpp b/src/examples/test_processor_odom_3D.cpp
index 79798150d..8103a7ff3 100644
--- a/src/examples/test_processor_odom_3D.cpp
+++ b/src/examples/test_processor_odom_3D.cpp
@@ -5,13 +5,13 @@
* \author: jsola
*/
-#include "base/capture/capture_IMU.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_IMU.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
#include <cstdlib>
diff --git a/src/examples/test_processor_tracker_feature.cpp b/src/examples/test_processor_tracker_feature.cpp
index 77e2b35e9..cd3282ee8 100644
--- a/src/examples/test_processor_tracker_feature.cpp
+++ b/src/examples/test_processor_tracker_feature.cpp
@@ -9,12 +9,12 @@
#include <iostream>
//Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
int main()
{
diff --git a/src/examples/test_processor_tracker_landmark.cpp b/src/examples/test_processor_tracker_landmark.cpp
index 170222976..05eb1a519 100644
--- a/src/examples/test_processor_tracker_landmark.cpp
+++ b/src/examples/test_processor_tracker_landmark.cpp
@@ -9,12 +9,12 @@
#include <iostream>
//Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_tracker_landmark_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_tracker_landmark_dummy.h"
+#include "core/capture/capture_void.h"
void print_problem_pointers(wolf::ProblemPtr wolf_problem_ptr_)
{
diff --git a/src/examples/test_processor_tracker_landmark_image.cpp b/src/examples/test_processor_tracker_landmark_image.cpp
index be7df536e..f3c79633d 100644
--- a/src/examples/test_processor_tracker_landmark_image.cpp
+++ b/src/examples/test_processor_tracker_landmark_image.cpp
@@ -1,18 +1,18 @@
//std
#include <iostream>
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
//Wolf
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/state_block/state_block.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/capture/capture_image.h"
-#include "base/capture/capture_pose.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/state_block/state_block.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/capture/capture_image.h"
+#include "core/capture/capture_pose.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// Vision utils includes
#include <vision_utils.h>
diff --git a/src/examples/test_projection_points.cpp b/src/examples/test_projection_points.cpp
index b9f01912d..6d6f943ab 100644
--- a/src/examples/test_projection_points.cpp
+++ b/src/examples/test_projection_points.cpp
@@ -6,7 +6,7 @@
#include <iostream>
//wolf includes
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
int main(int argc, char** argv)
{
diff --git a/src/examples/test_simple_AHP.cpp b/src/examples/test_simple_AHP.cpp
index 6bd1805dc..290e0915c 100644
--- a/src/examples/test_simple_AHP.cpp
+++ b/src/examples/test_simple_AHP.cpp
@@ -5,15 +5,15 @@
* \author: jtarraso
*/
-#include "base/common/wolf.h"
-#include "base/frame/frame_base.h"
-#include "base/math/pinhole_tools.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/math/rotations.h"
-#include "base/capture/capture_image.h"
-#include "base/landmark/landmark_AHP.h"
-#include "base/factor/factor_AHP.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/math/pinhole_tools.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/math/rotations.h"
+#include "core/capture/capture_image.h"
+#include "core/landmark/landmark_AHP.h"
+#include "core/factor/factor_AHP.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// Vision utils
#include <vision_utils/vision_utils.h>
diff --git a/src/examples/test_sort_keyframes.cpp b/src/examples/test_sort_keyframes.cpp
index 56982c9dc..b27e1c007 100644
--- a/src/examples/test_sort_keyframes.cpp
+++ b/src/examples/test_sort_keyframes.cpp
@@ -6,10 +6,10 @@
*/
// Wolf includes
-#include "base/common/wolf.h"
-#include "base/problem/problem.h"
-#include "base/frame/frame_base.h"
-#include "base/trajectory/trajectory_base.h"
+#include "core/common/wolf.h"
+#include "core/problem/problem.h"
+#include "core/frame/frame_base.h"
+#include "core/trajectory/trajectory_base.h"
// STL includes
#include <list>
diff --git a/src/examples/test_sparsification.cpp b/src/examples/test_sparsification.cpp
index 7b9e85c08..fa577c15b 100644
--- a/src/examples/test_sparsification.cpp
+++ b/src/examples/test_sparsification.cpp
@@ -14,10 +14,10 @@
#include <queue>
//Wolf includes
-#include "base/capture/capture_void.h"
-#include "base/feature/feature_odom_2D.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/feature/feature_odom_2D.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// EIGEN
//#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_state_quaternion.cpp b/src/examples/test_state_quaternion.cpp
index 0fabac44e..6528a2b39 100644
--- a/src/examples/test_state_quaternion.cpp
+++ b/src/examples/test_state_quaternion.cpp
@@ -5,9 +5,9 @@
* \author: jsola
*/
-#include "base/frame/frame_base.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/common/time_stamp.h"
+#include "core/frame/frame_base.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/common/time_stamp.h"
#include <iostream>
diff --git a/src/examples/test_tracker_ORB.cpp b/src/examples/test_tracker_ORB.cpp
index 536e06d62..89ea1800a 100644
--- a/src/examples/test_tracker_ORB.cpp
+++ b/src/examples/test_tracker_ORB.cpp
@@ -11,7 +11,7 @@
#include <matchers/bruteforce_hamming_2/matcher_bruteforce_hamming_2.h>
//Wolf
-#include "base/processor/processor_tracker_landmark_image.h"
+#include "core/processor/processor_tracker_landmark_image.h"
int main(int argc, char** argv)
{
diff --git a/src/examples/test_wolf_autodiffwrapper.cpp b/src/examples/test_wolf_autodiffwrapper.cpp
index 1fa76e585..8d0897956 100644
--- a/src/examples/test_wolf_autodiffwrapper.cpp
+++ b/src/examples/test_wolf_autodiffwrapper.cpp
@@ -12,8 +12,8 @@
//Wolf includes
#include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
int main(int argc, char** argv)
{
diff --git a/src/examples/test_wolf_factories.cpp b/src/examples/test_wolf_factories.cpp
index b608bb958..ce7db15c8 100644
--- a/src/examples/test_wolf_factories.cpp
+++ b/src/examples/test_wolf_factories.cpp
@@ -5,21 +5,21 @@
* \author: jsola
*/
-#include "base/processor/processor_IMU.h"
-#include "base/sensor/sensor_GPS_fix.h"
-#include "base/hardware/hardware_base.h"
-#include "base/sensor/sensor_camera.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_IMU.h"
+#include "core/sensor/sensor_GPS_fix.h"
+#include "core/hardware/hardware_base.h"
+#include "core/sensor/sensor_camera.h"
+#include "core/sensor/sensor_odom_2D.h"
#include "../sensor_imu.h"
//#include "../sensor_gps.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_3D.h"
#include "../processor_image_feature.h"
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
-#include "base/common/factory.h"
+#include "core/common/factory.h"
#include <iostream>
#include <iomanip>
diff --git a/src/examples/test_wolf_imported_graph.cpp b/src/examples/test_wolf_imported_graph.cpp
index 1113af8b7..9463399ff 100644
--- a/src/examples/test_wolf_imported_graph.cpp
+++ b/src/examples/test_wolf_imported_graph.cpp
@@ -12,8 +12,8 @@
//Wolf includes
#include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// EIGEN
//#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_logging.cpp b/src/examples/test_wolf_logging.cpp
index 3b7bdfab7..ee3b9b576 100644
--- a/src/examples/test_wolf_logging.cpp
+++ b/src/examples/test_wolf_logging.cpp
@@ -5,8 +5,8 @@
* \author: Jeremie Deray
*/
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
int main(int, char*[])
{
diff --git a/src/examples/test_wolf_prunning.cpp b/src/examples/test_wolf_prunning.cpp
index f3ed29007..de917e471 100644
--- a/src/examples/test_wolf_prunning.cpp
+++ b/src/examples/test_wolf_prunning.cpp
@@ -12,9 +12,9 @@
//Wolf includes
#include "wolf_manager.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_base.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_base.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// EIGEN
//#include <Eigen/CholmodSupport>
diff --git a/src/examples/test_wolf_root.cpp b/src/examples/test_wolf_root.cpp
index ff78c97b0..4ea048471 100644
--- a/src/examples/test_wolf_root.cpp
+++ b/src/examples/test_wolf_root.cpp
@@ -6,7 +6,7 @@
*/
//Wolf
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
//std
#include <iostream>
diff --git a/src/examples/test_yaml.cpp b/src/examples/test_yaml.cpp
index 5181d73ac..5768f4b50 100644
--- a/src/examples/test_yaml.cpp
+++ b/src/examples/test_yaml.cpp
@@ -5,10 +5,10 @@
* \author: jsola
*/
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
#include "yaml/yaml_conversion.h"
#include "processor_image_feature.h"
-#include "base/common/factory.h"
+#include "core/common/factory.h"
#include <yaml-cpp/yaml.h>
diff --git a/src/examples/test_yaml_conversions.cpp b/src/examples/test_yaml_conversions.cpp
index 78cf30da7..b8e1f41f9 100644
--- a/src/examples/test_yaml_conversions.cpp
+++ b/src/examples/test_yaml_conversions.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
#include <yaml-cpp/yaml.h>
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 7ad85937a..9c8ba1ab3 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -1,5 +1,5 @@
-#include "base/factor/factor_analytic.h"
-#include "base/state_block/state_block.h"
+#include "core/factor/factor_analytic.h"
+#include "core/state_block/state_block.h"
namespace wolf {
diff --git a/src/factor/factor_base.cpp b/src/factor/factor_base.cpp
index 188e873b6..f40afd286 100644
--- a/src/factor/factor_base.cpp
+++ b/src/factor/factor_base.cpp
@@ -1,6 +1,6 @@
-#include "base/factor/factor_base.h"
-#include "base/frame/frame_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/factor/factor_base.h"
+#include "core/frame/frame_base.h"
+#include "core/landmark/landmark_base.h"
namespace wolf {
diff --git a/src/feature/feature_base.cpp b/src/feature/feature_base.cpp
index ca47cb78f..aac02b655 100644
--- a/src/feature/feature_base.cpp
+++ b/src/feature/feature_base.cpp
@@ -1,6 +1,6 @@
-#include "base/feature/feature_base.h"
-#include "base/factor/factor_base.h"
-#include "base/capture/capture_base.h"
+#include "core/feature/feature_base.h"
+#include "core/factor/factor_base.h"
+#include "core/capture/capture_base.h"
namespace wolf {
diff --git a/src/feature/feature_diff_drive.cpp b/src/feature/feature_diff_drive.cpp
index c2b8d9ed1..0796e18bc 100644
--- a/src/feature/feature_diff_drive.cpp
+++ b/src/feature/feature_diff_drive.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_diff_drive.h"
+#include "core/feature/feature_diff_drive.h"
namespace wolf {
diff --git a/src/feature/feature_odom_2D.cpp b/src/feature/feature_odom_2D.cpp
index 472072e54..ee6cd60ba 100644
--- a/src/feature/feature_odom_2D.cpp
+++ b/src/feature/feature_odom_2D.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_odom_2D.h"
+#include "core/feature/feature_odom_2D.h"
namespace wolf {
diff --git a/src/feature/feature_pose.cpp b/src/feature/feature_pose.cpp
index 15d40e60a..344d230a7 100644
--- a/src/feature/feature_pose.cpp
+++ b/src/feature/feature_pose.cpp
@@ -1,4 +1,4 @@
-#include "base/feature/feature_pose.h"
+#include "core/feature/feature_pose.h"
namespace wolf {
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index cb7f089c1..be6b4ef3c 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -1,11 +1,11 @@
-#include "base/frame/frame_base.h"
-#include "base/factor/factor_base.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/capture/capture_base.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_angle.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/frame/frame_base.h"
+#include "core/factor/factor_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/capture/capture_base.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
+#include "core/state_block/state_quaternion.h"
namespace wolf {
@@ -374,7 +374,7 @@ FrameBasePtr FrameBase::create_POV_3D(const FrameType & _tp,
} // namespace wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
namespace wolf
{
namespace{ const bool WOLF_UNUSED Frame_PO_2D_Registered = FrameFactory::get().registerCreator("PO 2D", FrameBase::create_PO_2D ); }
diff --git a/src/hardware/hardware_base.cpp b/src/hardware/hardware_base.cpp
index 69b23c34c..c0d3d6462 100644
--- a/src/hardware/hardware_base.cpp
+++ b/src/hardware/hardware_base.cpp
@@ -1,5 +1,5 @@
-#include "base/hardware/hardware_base.h"
-#include "base/sensor/sensor_base.h"
+#include "core/hardware/hardware_base.h"
+#include "core/sensor/sensor_base.h"
namespace wolf {
diff --git a/src/landmark/landmark_base.cpp b/src/landmark/landmark_base.cpp
index 4b3e4a8a2..3b34891dc 100644
--- a/src/landmark/landmark_base.cpp
+++ b/src/landmark/landmark_base.cpp
@@ -1,9 +1,9 @@
-#include "base/landmark/landmark_base.h"
-#include "base/factor/factor_base.h"
-#include "base/map/map_base.h"
-#include "base/state_block/state_block.h"
-#include "base/yaml/yaml_conversion.h"
+#include "core/landmark/landmark_base.h"
+#include "core/factor/factor_base.h"
+#include "core/map/map_base.h"
+#include "core/state_block/state_block.h"
+#include "core/yaml/yaml_conversion.h"
namespace wolf {
diff --git a/src/map/map_base.cpp b/src/map/map_base.cpp
index 9a0eefe8c..91398c9f4 100644
--- a/src/map/map_base.cpp
+++ b/src/map/map_base.cpp
@@ -1,8 +1,8 @@
// wolf
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
-#include "base/common/factory.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
+#include "core/common/factory.h"
// YAML
#include <yaml-cpp/yaml.h>
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 15ebd2828..4d5bb9b01 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -1,16 +1,16 @@
// wolf includes
-#include "base/problem/problem.h"
-#include "base/hardware/hardware_base.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/sensor/sensor_base.h"
-#include "base/processor/processor_motion.h"
-#include "base/processor/processor_tracker.h"
-#include "base/capture/capture_pose.h"
-#include "base/factor/factor_base.h"
-#include "base/sensor/sensor_factory.h"
-#include "base/processor/processor_factory.h"
-#include "base/state_block/state_block.h"
+#include "core/problem/problem.h"
+#include "core/hardware/hardware_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/sensor/sensor_base.h"
+#include "core/processor/processor_motion.h"
+#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/state_block/state_block.h"
// IRI libs includes
diff --git a/src/processor/motion_buffer.cpp b/src/processor/motion_buffer.cpp
index 2828ad4d0..7e65d03da 100644
--- a/src/processor/motion_buffer.cpp
+++ b/src/processor/motion_buffer.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/motion_buffer.h"
+#include "core/processor/motion_buffer.h"
namespace wolf
{
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index 067990916..b525a71f8 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -1,7 +1,7 @@
-#include "base/processor/processor_base.h"
-#include "base/processor/processor_motion.h"
-#include "base/capture/capture_base.h"
-#include "base/frame/frame_base.h"
+#include "core/processor/processor_base.h"
+#include "core/processor/processor_motion.h"
+#include "core/capture/capture_base.h"
+#include "core/frame/frame_base.h"
namespace wolf {
diff --git a/src/processor/processor_capture_holder.cpp b/src/processor/processor_capture_holder.cpp
index 2958739d7..0b379c80a 100644
--- a/src/processor/processor_capture_holder.cpp
+++ b/src/processor/processor_capture_holder.cpp
@@ -6,7 +6,7 @@
*/
//Wolf includes
-#include "base/processor/processor_capture_holder.h"
+#include "core/processor/processor_capture_holder.h"
namespace wolf {
@@ -145,7 +145,7 @@ ProcessorBasePtr ProcessorCaptureHolder::create(const std::string& _unique_name,
} // namespace wolf
// Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("CAPTURE HOLDER", ProcessorCaptureHolder)
} // namespace wolf
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index 881ebedec..40ec0ed42 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -1,13 +1,13 @@
-#include "base/processor/processor_diff_drive.h"
+#include "core/processor/processor_diff_drive.h"
-#include "base/sensor/sensor_diff_drive.h"
+#include "core/sensor/sensor_diff_drive.h"
-#include "base/capture/capture_wheel_joint_position.h"
-#include "base/capture/capture_velocity.h"
+#include "core/capture/capture_wheel_joint_position.h"
+#include "core/capture/capture_velocity.h"
-#include "base/math/rotations.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/feature/feature_diff_drive.h"
+#include "core/math/rotations.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/feature/feature_diff_drive.h"
namespace wolf
{
@@ -266,7 +266,7 @@ ProcessorBasePtr ProcessorDiffDrive::create(const std::string& _unique_name,
} // namespace wolf
// Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("DIFF DRIVE", ProcessorDiffDrive)
} // namespace wolf
diff --git a/src/processor/processor_frame_nearest_neighbor_filter.cpp b/src/processor/processor_frame_nearest_neighbor_filter.cpp
index 7c4e63a75..6227ebf2c 100644
--- a/src/processor/processor_frame_nearest_neighbor_filter.cpp
+++ b/src/processor/processor_frame_nearest_neighbor_filter.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_frame_nearest_neighbor_filter.h"
+#include "core/processor/processor_frame_nearest_neighbor_filter.h"
namespace wolf
{
diff --git a/src/processor/processor_loopclosure_base.cpp b/src/processor/processor_loopclosure_base.cpp
index 6953cd103..7ce194144 100644
--- a/src/processor/processor_loopclosure_base.cpp
+++ b/src/processor/processor_loopclosure_base.cpp
@@ -5,7 +5,7 @@
* \author: Tessa Johanna
*/
-#include "base/processor/processor_loopclosure_base.h"
+#include "core/processor/processor_loopclosure_base.h"
namespace wolf
{
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index ef5cbb1cd..9d7d0d42d 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_motion.h"
+#include "core/processor/processor_motion.h"
namespace wolf
{
diff --git a/src/processor/processor_odom_2D.cpp b/src/processor/processor_odom_2D.cpp
index a474ed1f3..017754162 100644
--- a/src/processor/processor_odom_2D.cpp
+++ b/src/processor/processor_odom_2D.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
namespace wolf
{
@@ -192,7 +192,7 @@ ProcessorBasePtr ProcessorOdom2D::create(const std::string& _unique_name, const
}
// Register in the ProcessorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ODOM 2D", ProcessorOdom2D)
} // namespace wolf
diff --git a/src/processor/processor_odom_3D.cpp b/src/processor/processor_odom_3D.cpp
index 741545971..8fa728b51 100644
--- a/src/processor/processor_odom_3D.cpp
+++ b/src/processor/processor_odom_3D.cpp
@@ -1,4 +1,4 @@
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
namespace wolf
{
@@ -433,7 +433,7 @@ void ProcessorOdom3D::remap(const Eigen::VectorXs& _x1, const Eigen::VectorXs& _
}
// Register in the SensorFactory
-#include "base/processor/processor_factory.h"
+#include "core/processor/processor_factory.h"
namespace wolf {
WOLF_REGISTER_PROCESSOR("ODOM 3D", ProcessorOdom3D)
} // namespace wolf
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index afdc9446a..07a26c1b2 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -6,7 +6,7 @@
*/
// wolf
-#include "base/processor/processor_tracker.h"
+#include "core/processor/processor_tracker.h"
// std
#include <cmath>
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 7ec5a8859..6062c5624 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "base/processor/processor_tracker_feature.h"
+#include "core/processor/processor_tracker_feature.h"
namespace wolf
{
diff --git a/src/processor/processor_tracker_feature_dummy.cpp b/src/processor/processor_tracker_feature_dummy.cpp
index b5b225f84..0502e8acc 100644
--- a/src/processor/processor_tracker_feature_dummy.cpp
+++ b/src/processor/processor_tracker_feature_dummy.cpp
@@ -5,8 +5,8 @@
* \author: jvallve
*/
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/feature/feature_base.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/feature/feature_base.h"
namespace wolf
{
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index beaf10b75..36bf07c1c 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -5,8 +5,8 @@
* \author: jvallve
*/
-#include "base/processor/processor_tracker_landmark.h"
-#include "base/map/map_base.h"
+#include "core/processor/processor_tracker_landmark.h"
+#include "core/map/map_base.h"
#include <utility>
diff --git a/src/processor/track_matrix.cpp b/src/processor/track_matrix.cpp
index 8db44ce4a..af0bff7f3 100644
--- a/src/processor/track_matrix.cpp
+++ b/src/processor/track_matrix.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "base/processor/track_matrix.h"
+#include "core/processor/track_matrix.h"
namespace wolf
{
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index 209dc12e0..26238eb8d 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -1,8 +1,8 @@
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
-#include "base/factor/factor_block_absolute.h"
-#include "base/factor/factor_quaternion_absolute.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/factor/factor_quaternion_absolute.h"
namespace wolf {
diff --git a/src/sensor/sensor_diff_drive.cpp b/src/sensor/sensor_diff_drive.cpp
index 43894b7d6..727e8bfb6 100644
--- a/src/sensor/sensor_diff_drive.cpp
+++ b/src/sensor/sensor_diff_drive.cpp
@@ -1,7 +1,7 @@
-#include "base/sensor/sensor_diff_drive.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_motion.h"
-#include "base/utils/eigen_assert.h"
+#include "core/sensor/sensor_diff_drive.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_motion.h"
+#include "core/utils/eigen_assert.h"
namespace wolf {
@@ -127,7 +127,7 @@ SensorBasePtr SensorDiffDrive::create(const std::string& _unique_name,
} // namespace wolf
// Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
namespace wolf {
WOLF_REGISTER_SENSOR("DIFF DRIVE", SensorDiffDrive)
} // namespace wolf
diff --git a/src/sensor/sensor_odom_2D.cpp b/src/sensor/sensor_odom_2D.cpp
index dc3772d7b..e3e5d860f 100644
--- a/src/sensor/sensor_odom_2D.cpp
+++ b/src/sensor/sensor_odom_2D.cpp
@@ -1,6 +1,6 @@
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_angle.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_angle.h"
namespace wolf {
@@ -61,7 +61,7 @@ SensorBasePtr SensorOdom2D::create(const std::string& _unique_name, const Eigen:
} // namespace wolf
// Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
namespace wolf {
WOLF_REGISTER_SENSOR("ODOM 2D", SensorOdom2D)
} // namespace wolf
diff --git a/src/sensor/sensor_odom_3D.cpp b/src/sensor/sensor_odom_3D.cpp
index 5a3736d5e..cf6431489 100644
--- a/src/sensor/sensor_odom_3D.cpp
+++ b/src/sensor/sensor_odom_3D.cpp
@@ -5,10 +5,10 @@
* \author: jsola
*/
-#include "base/sensor/sensor_odom_3D.h"
+#include "core/sensor/sensor_odom_3D.h"
-#include "base/state_block/state_block.h"
-#include "base/state_block/state_quaternion.h"
+#include "core/state_block/state_block.h"
+#include "core/state_block/state_quaternion.h"
namespace wolf {
@@ -57,7 +57,7 @@ SensorBasePtr SensorOdom3D::create(const std::string& _unique_name, const Eigen:
} // namespace wolf
// Register in the SensorFactory
-#include "base/sensor/sensor_factory.h"
+#include "core/sensor/sensor_factory.h"
namespace wolf {
WOLF_REGISTER_SENSOR("ODOM 3D", SensorOdom3D)
}
diff --git a/src/solver/solver_manager.cpp b/src/solver/solver_manager.cpp
index 2a914ef67..fa645762e 100644
--- a/src/solver/solver_manager.cpp
+++ b/src/solver/solver_manager.cpp
@@ -1,7 +1,7 @@
-#include "base/solver/solver_manager.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/map/map_base.h"
-#include "base/landmark/landmark_base.h"
+#include "core/solver/solver_manager.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/map/map_base.h"
+#include "core/landmark/landmark_base.h"
namespace wolf {
diff --git a/src/solver_suitesparse/solver_manager.cpp b/src/solver_suitesparse/solver_manager.cpp
index 2ba7af708..05d89142a 100644
--- a/src/solver_suitesparse/solver_manager.cpp
+++ b/src/solver_suitesparse/solver_manager.cpp
@@ -1,4 +1,4 @@
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
SolverManager::SolverManager()
{
diff --git a/src/state_block/local_parametrization_base.cpp b/src/state_block/local_parametrization_base.cpp
index 485b3171b..f46a93f9c 100644
--- a/src/state_block/local_parametrization_base.cpp
+++ b/src/state_block/local_parametrization_base.cpp
@@ -1,4 +1,4 @@
-#include "base/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_base.h"
namespace wolf {
diff --git a/src/state_block/local_parametrization_homogeneous.cpp b/src/state_block/local_parametrization_homogeneous.cpp
index b8982f890..9fdc26e1c 100644
--- a/src/state_block/local_parametrization_homogeneous.cpp
+++ b/src/state_block/local_parametrization_homogeneous.cpp
@@ -5,9 +5,9 @@
* Author: jsola
*/
-#include "base/state_block/local_parametrization_homogeneous.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
#include "iostream"
-#include "base/math/rotations.h" // we use quaternion algebra here
+#include "core/math/rotations.h" // we use quaternion algebra here
namespace wolf {
diff --git a/src/state_block/local_parametrization_polyline_extreme.cpp b/src/state_block/local_parametrization_polyline_extreme.cpp
index 803c85b4f..5077eb0c7 100644
--- a/src/state_block/local_parametrization_polyline_extreme.cpp
+++ b/src/state_block/local_parametrization_polyline_extreme.cpp
@@ -1,6 +1,6 @@
-#include "base/state_block/local_parametrization_polyline_extreme.h"
-#include "base/state_block/state_block.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_polyline_extreme.h"
+#include "core/state_block/state_block.h"
+#include "core/math/rotations.h"
namespace wolf {
diff --git a/src/state_block/local_parametrization_quaternion.cpp b/src/state_block/local_parametrization_quaternion.cpp
index 1c2655f88..d8bcd6a0d 100644
--- a/src/state_block/local_parametrization_quaternion.cpp
+++ b/src/state_block/local_parametrization_quaternion.cpp
@@ -1,6 +1,6 @@
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/math/rotations.h"
#include <iostream>
namespace wolf {
diff --git a/src/state_block/state_block.cpp b/src/state_block/state_block.cpp
index 96df91772..e37f70ff4 100644
--- a/src/state_block/state_block.cpp
+++ b/src/state_block/state_block.cpp
@@ -1,4 +1,4 @@
-#include "base/state_block/state_block.h"
+#include "core/state_block/state_block.h"
namespace wolf
{
diff --git a/src/trajectory/trajectory_base.cpp b/src/trajectory/trajectory_base.cpp
index 086afab73..d5372193b 100644
--- a/src/trajectory/trajectory_base.cpp
+++ b/src/trajectory/trajectory_base.cpp
@@ -1,5 +1,5 @@
-#include "base/trajectory/trajectory_base.h"
-#include "base/frame/frame_base.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/frame/frame_base.h"
namespace wolf {
diff --git a/src/yaml/processor_image_yaml.cpp b/src/yaml/processor_image_yaml.cpp
index 47e0a32e2..da21efc2d 100644
--- a/src/yaml/processor_image_yaml.cpp
+++ b/src/yaml/processor_image_yaml.cpp
@@ -6,15 +6,15 @@
*/
// wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
// wolf
-#include "base/common/factory.h"
+#include "core/common/factory.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
-#include "base/processor/processor_params_image.h"
+#include "core/processor/processor_params_image.h"
namespace wolf
{
diff --git a/src/yaml/processor_odom_3D_yaml.cpp b/src/yaml/processor_odom_3D_yaml.cpp
index c63e3d9b5..44312b71d 100644
--- a/src/yaml/processor_odom_3D_yaml.cpp
+++ b/src/yaml/processor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
*/
// wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
// wolf
-#include "base/processor/processor_odom_3D.h"
-#include "base/common/factory.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/common/factory.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/src/yaml/sensor_odom_3D_yaml.cpp b/src/yaml/sensor_odom_3D_yaml.cpp
index d4e90dd83..3756953b4 100644
--- a/src/yaml/sensor_odom_3D_yaml.cpp
+++ b/src/yaml/sensor_odom_3D_yaml.cpp
@@ -6,11 +6,11 @@
*/
// wolf yaml
-#include "base/yaml/yaml_conversion.h"
+#include "core/yaml/yaml_conversion.h"
// wolf
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/common/factory.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/common/factory.h"
// yaml-cpp library
#include <yaml-cpp/yaml.h>
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index 002aa206b..a6146b661 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -6,7 +6,7 @@
*/
-#include "base/math/SE3.h"
+#include "core/math/SE3.h"
#include "utils_gtest.h"
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 305bf1eec..096ba1839 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -7,8 +7,8 @@
#include "utils_gtest.h"
-#include "base/capture/capture_base.h"
-#include "base/state_block/state_angle.h"
+#include "core/capture/capture_base.h"
+#include "core/state_block/state_angle.h"
using namespace wolf;
using namespace Eigen;
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 9b096f7c8..99b9793bb 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -6,18 +6,18 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
-
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/factor/factor_quaternion_absolute.h"
-#include "base/solver/solver_manager.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/state_block/local_parametrization_angle.h"
-#include "base/state_block/local_parametrization_quaternion.h"
+#include "core/utils/logging.h"
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/factor/factor_quaternion_absolute.h"
+#include "core/solver/solver_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/state_block/local_parametrization_angle.h"
+#include "core/state_block/local_parametrization_quaternion.h"
#include "ceres/ceres.h"
diff --git a/test/gtest_eigen_predicates.cpp b/test/gtest_eigen_predicates.cpp
index b3c301049..c7c68b4f3 100644
--- a/test/gtest_eigen_predicates.cpp
+++ b/test/gtest_eigen_predicates.cpp
@@ -1,6 +1,6 @@
#include "utils_gtest.h"
-#include "base/utils/eigen_predicates.h"
+#include "core/utils/eigen_predicates.h"
TEST(TestEigenPredicates, TestEigenDynPredZero)
{
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index 204c6ce63..2343910a7 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -6,11 +6,11 @@
*/
#include "utils_gtest.h"
-#include "base/factor/factor_block_absolute.h"
-#include "base/factor/factor_quaternion_absolute.h"
-#include "base/capture/capture_motion.h"
+#include "core/factor/factor_block_absolute.h"
+#include "core/factor/factor_quaternion_absolute.h"
+#include "core/capture/capture_motion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index a053b3f82..1ee57dda9 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -7,12 +7,12 @@
#include "utils_gtest.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/capture/capture_void.h"
-#include "base/feature/feature_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/factor/factor_odom_2D_analytic.h"
-#include "base/factor/factor_autodiff.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/capture/capture_void.h"
+#include "core/feature/feature_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/factor/factor_odom_2D_analytic.h"
+#include "core/factor/factor_autodiff.h"
using namespace wolf;
using namespace Eigen;
diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp
index 5c508f89d..b0a36cf7f 100644
--- a/test/gtest_factor_autodiff_distance_3D.cpp
+++ b/test/gtest_factor_autodiff_distance_3D.cpp
@@ -5,11 +5,11 @@
* \author: jsola
*/
-#include "base/factor/factor_autodiff_distance_3D.h"
-#include "base/problem/problem.h"
-#include "base/utils/logging.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/math/rotations.h"
+#include "core/factor/factor_autodiff_distance_3D.h"
+#include "core/problem/problem.h"
+#include "core/utils/logging.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/math/rotations.h"
#include "utils_gtest.h"
diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp
index c3f767d56..bbebe93fb 100644
--- a/test/gtest_factor_odom_3D.cpp
+++ b/test/gtest_factor_odom_3D.cpp
@@ -7,10 +7,10 @@
#include "utils_gtest.h"
-#include "base/factor/factor_odom_3D.h"
-#include "base/capture/capture_motion.h"
+#include "core/factor/factor_odom_3D.h"
+#include "core/capture/capture_motion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_factor_pose_2D.cpp b/test/gtest_factor_pose_2D.cpp
index d7bce0c84..0bc4ced9e 100644
--- a/test/gtest_factor_pose_2D.cpp
+++ b/test/gtest_factor_pose_2D.cpp
@@ -5,12 +5,12 @@
* \author: jsola
*/
-#include "base/factor/factor_pose_2D.h"
+#include "core/factor/factor_pose_2D.h"
#include "utils_gtest.h"
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp
index 0af4c3c40..c0ff0c427 100644
--- a/test/gtest_factor_pose_3D.cpp
+++ b/test/gtest_factor_pose_3D.cpp
@@ -5,12 +5,12 @@
* \author: jsola
*/
-#include "base/factor/factor_pose_3D.h"
+#include "core/factor/factor_pose_3D.h"
#include "utils_gtest.h"
-#include "base/capture/capture_motion.h"
+#include "core/capture/capture_motion.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index f9da19cff..3a93ef2cb 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "base/feature/feature_base.h"
+#include "core/feature/feature_base.h"
#include "utils_gtest.h"
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 9b4c7b6cf..5d468d43b 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -6,13 +6,13 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/frame/frame_base.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
-#include "base/capture/capture_motion.h"
+#include "core/frame/frame_base.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
+#include "core/capture/capture_motion.h"
#include <iostream>
@@ -129,7 +129,7 @@ TEST(FrameBase, LinksToTree)
ASSERT_TRUE(F1->getCaptureList().empty());
}
-#include "base/state_block/state_quaternion.h"
+#include "core/state_block/state_quaternion.h"
TEST(FrameBase, GetSetState)
{
// Create PQV_3D state blocks
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 45d570671..520a694f6 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -6,13 +6,13 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/state_block/local_parametrization_quaternion.h"
-#include "base/state_block/local_parametrization_homogeneous.h"
-#include "base/math/rotations.h"
+#include "core/state_block/local_parametrization_quaternion.h"
+#include "core/state_block/local_parametrization_homogeneous.h"
+#include "core/math/rotations.h"
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include <iostream>
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index 06f9fd20e..5a0b707a6 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,5 +1,5 @@
#include "utils_gtest.h"
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 6aee437dc..3ef0bfaa0 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -6,11 +6,11 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/processor/motion_buffer.h"
+#include "core/processor/motion_buffer.h"
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include <iostream>
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index 2aa224b31..2ac4d8f32 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -8,14 +8,14 @@
#include "utils_gtest.h"
// Classes under test
-#include "base/processor/processor_odom_2D.h"
-#include "base/factor/factor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/factor/factor_odom_2D.h"
// Wolf includes
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/state_block/state_block.h"
-#include "base/common/wolf.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/state_block/state_block.h"
+#include "core/common/wolf.h"
+#include "core/ceres_wrapper/ceres_manager.h"
// STL includes
#include <map>
@@ -26,7 +26,7 @@
// General includes
#include <iostream>
#include <iomanip> // std::setprecision
-#include "base/capture/capture_pose.h"
+#include "core/capture/capture_pose.h"
using namespace wolf;
using namespace Eigen;
diff --git a/test/gtest_odom_3D.cpp b/test/gtest_odom_3D.cpp
index 34cb26dc3..ce52ec393 100644
--- a/test/gtest_odom_3D.cpp
+++ b/test/gtest_odom_3D.cpp
@@ -7,10 +7,10 @@
#include "utils_gtest.h"
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
-#include "base/processor/processor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
#include <iostream>
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index d4ed20575..c2b8958d0 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -7,13 +7,13 @@
//Wolf
#include "utils_gtest.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
// STL
#include <iterator>
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index 79f7aff49..7af68fa02 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -6,11 +6,11 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/problem/problem.h"
-#include "base/ceres_wrapper/ceres_manager.h"
-#include "base/sensor/sensor_odom_3D.h"
+#include "core/problem/problem.h"
+#include "core/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_3D.h"
#include <iostream>
diff --git a/test/gtest_pinhole.cpp b/test/gtest_pinhole.cpp
index 378757f09..376f15c10 100644
--- a/test/gtest_pinhole.cpp
+++ b/test/gtest_pinhole.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "base/math/pinhole_tools.h"
+#include "core/math/pinhole_tools.h"
#include "utils_gtest.h"
using namespace Eigen;
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 8dfd41233..dddd4bc84 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -6,13 +6,13 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/sensor/sensor_odom_3D.h"
-#include "base/processor/processor_odom_3D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/sensor/sensor_odom_3D.h"
+#include "core/processor/processor_odom_3D.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
#include <iostream>
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 904dfd764..6f0f7fa12 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -8,13 +8,13 @@
//Wolf
#include "utils_gtest.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_tracker_feature_dummy.h"
-#include "base/capture/capture_void.h"
+#include "core/processor/processor_tracker_feature_dummy.h"
+#include "core/capture/capture_void.h"
-#include "base/problem/problem.h"
+#include "core/problem/problem.h"
// STL
#include <iterator>
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index cfbdd69e0..187fffeae 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -7,10 +7,10 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_frame_nearest_neighbor_filter.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_frame_nearest_neighbor_filter.h"
#include <iostream>
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 0a02d13a1..f919e0dbc 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -7,12 +7,12 @@
#include "utils_gtest.h"
-#include "base/common/wolf.h"
-#include "base/utils/logging.h"
+#include "core/common/wolf.h"
+#include "core/utils/logging.h"
-#include "base/sensor/sensor_odom_2D.h"
-#include "base/processor/processor_odom_2D.h"
-#include "base/ceres_wrapper/ceres_manager.h"
+#include "core/sensor/sensor_odom_2D.h"
+#include "core/processor/processor_odom_2D.h"
+#include "core/ceres_wrapper/ceres_manager.h"
using namespace Eigen;
using namespace wolf;
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 941b36b85..513cddd55 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -9,8 +9,8 @@
#include <Eigen/Geometry>
//Wolf
-#include "base/common/wolf.h"
-#include "base/math/rotations.h"
+#include "core/common/wolf.h"
+#include "core/math/rotations.h"
//std
#include <iostream>
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index cd809e75c..d8420b2b3 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "base/sensor/sensor_base.h"
+#include "core/sensor/sensor_base.h"
#include "utils_gtest.h"
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index 9c9055ff5..6b14fff0c 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,5 +1,5 @@
#include "utils_gtest.h"
-#include "base/common/node_base.h"
+#include "core/common/node_base.h"
class CChildBase;
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 9de5032b3..16551627c 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -6,16 +6,16 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
-
-#include "base/problem/problem.h"
-#include "base/sensor/sensor_base.h"
-#include "base/state_block/state_block.h"
-#include "base/capture/capture_void.h"
-#include "base/factor/factor_pose_2D.h"
-#include "base/solver/solver_manager.h"
-#include "base/state_block/local_parametrization_base.h"
-#include "base/state_block/local_parametrization_angle.h"
+#include "core/utils/logging.h"
+
+#include "core/problem/problem.h"
+#include "core/sensor/sensor_base.h"
+#include "core/state_block/state_block.h"
+#include "core/capture/capture_void.h"
+#include "core/factor/factor_pose_2D.h"
+#include "core/solver/solver_manager.h"
+#include "core/state_block/local_parametrization_base.h"
+#include "core/state_block/local_parametrization_angle.h"
#include <iostream>
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index a8389ce8b..03b1d0582 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,5 +1,5 @@
#include "utils_gtest.h"
-#include "base/common/time_stamp.h"
+#include "core/common/time_stamp.h"
#include <thread>
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 99d47c9c3..2f956b084 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -7,7 +7,7 @@
#include "utils_gtest.h"
-#include "base/processor/track_matrix.h"
+#include "core/processor/track_matrix.h"
using namespace wolf;
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index de582e26b..4197343b1 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -6,11 +6,11 @@
*/
#include "utils_gtest.h"
-#include "base/utils/logging.h"
+#include "core/utils/logging.h"
-#include "base/problem/problem.h"
-#include "base/trajectory/trajectory_base.h"
-#include "base/frame/frame_base.h"
+#include "core/problem/problem.h"
+#include "core/trajectory/trajectory_base.h"
+#include "core/frame/frame_base.h"
#include <iostream>
diff --git a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
index ae4a43a3b..87cafb4d5 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_geometry.cpp
@@ -5,7 +5,7 @@
* Author: Jeremie Deray
*/
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include "../../utils_gtest.h"
#include "../../../serialization/cereal/serialization_eigen_geometry.h"
diff --git a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
index c7f7249a5..0b803afdd 100644
--- a/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
+++ b/test/serialization/cereal/gtest_serialization_eigen_sparse.cpp
@@ -5,7 +5,7 @@
* Author: Jeremie Deray
*/
-#include "base/common/wolf.h"
+#include "core/common/wolf.h"
#include "../../utils_gtest.h"
#include "../../../serialization/cereal/serialization_eigen_sparse.h"
--
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