diff --git a/hello_wolf/sensor_range_bearing.h b/hello_wolf/sensor_range_bearing.h
index 2e9bcf214d0ea586a6cf3466846ed41ef50f3096..7f39233a521c760402e576ae51e9259d74e2b1d6 100644
--- a/hello_wolf/sensor_range_bearing.h
+++ b/hello_wolf/sensor_range_bearing.h
@@ -26,8 +26,8 @@ struct IntrinsicsRangeBearing : public IntrinsicsBase
IntrinsicsRangeBearing(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- noise_range_metres_std = _server.getParam<Scalar>(_unique_name + "/noise_range_metres_std");
- noise_bearing_degrees_std = _server.getParam<Scalar>(_unique_name + "/noise_bearing_degrees_std");
+ noise_range_metres_std = _server.getParam<Scalar>(prefix + _unique_name + "/noise_range_metres_std");
+ noise_bearing_degrees_std = _server.getParam<Scalar>(prefix + _unique_name + "/noise_bearing_degrees_std");
}
std::string print() const
{
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 3e7ecea8b12b5a32e55403d50445c60a9bd687d6..7273ad18f63f89ce071f2473fb956c9fb8722af2 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -204,13 +204,14 @@ class BufferCapture : public Buffer<CaptureBasePtr> {};
*/
struct ProcessorParamsBase : public ParamsBase
{
+ std::string prefix = "processor/";
ProcessorParamsBase() = default;
ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
ParamsBase(_unique_name, _server)
{
- time_tolerance = _server.getParam<Scalar>(_unique_name + "/time_tolerance");
- voting_active = _server.getParam<bool>(_unique_name + "/keyframe_vote/voting_active");
- voting_aux_active = _server.getParam<bool>(_unique_name + "/keyframe_vote/voting_aux_active");
+ time_tolerance = _server.getParam<Scalar>(prefix + _unique_name + "/time_tolerance");
+ voting_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_active");
+ voting_aux_active = _server.getParam<bool>(prefix + _unique_name + "/keyframe_vote/voting_aux_active");
}
virtual ~ProcessorParamsBase() = default;
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 467f0c6a7970823699c907fb64afc80f654366a7..a1aa0a3d388c3a916682cbb012f2bc0049703c61 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -34,11 +34,11 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
ProcessorParamsMotion(std::string _unique_name, const ParamsServer& _server):
ProcessorParamsBase(_unique_name, _server)
{
- max_time_span = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/max_time_span");
- max_buff_length = _server.getParam<unsigned int>(_unique_name + "/keyframe_vote/max_buff_length");
- dist_traveled = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/dist_traveled");
- angle_turned = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/angle_turned");
- unmeasured_perturbation_std = _server.getParam<Scalar>(_unique_name + "/unmeasured_perturbation_std");
+ max_time_span = _server.getParam<Scalar>(prefix + _unique_name + "/keyframe_vote/max_time_span");
+ max_buff_length = _server.getParam<unsigned int>(prefix + _unique_name + "/keyframe_vote/max_buff_length");
+ dist_traveled = _server.getParam<Scalar>(prefix + _unique_name + "/keyframe_vote/dist_traveled");
+ angle_turned = _server.getParam<Scalar>(prefix + _unique_name + "/keyframe_vote/angle_turned");
+ unmeasured_perturbation_std = _server.getParam<Scalar>(prefix + _unique_name + "/unmeasured_perturbation_std");
}
std::string print() const
{
diff --git a/include/core/processor/processor_odom_2D.h b/include/core/processor/processor_odom_2D.h
index 3de67b9a26f89976b6ef109c880516add6af27f5..f4c16e020a823a0dfcc25b4e202a393816316e00 100644
--- a/include/core/processor/processor_odom_2D.h
+++ b/include/core/processor/processor_odom_2D.h
@@ -27,7 +27,7 @@ struct ProcessorParamsOdom2D : public ProcessorParamsMotion
ProcessorParamsOdom2D(std::string _unique_name, const wolf::ParamsServer & _server) :
ProcessorParamsMotion(_unique_name, _server)
{
- cov_det = _server.getParam<Scalar>(_unique_name + "/keyframe_vote/cov_det");
+ cov_det = _server.getParam<Scalar>(prefix + _unique_name + "/keyframe_vote/cov_det");
}
std::string print() const
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index 8ad0a75bfeb983c0bb0b463281219a08cca9f5b2..b3adee2498da0324cffa332d73066d2a7d1fca3b 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -24,8 +24,8 @@ struct ProcessorParamsTracker : public ProcessorParamsBase
ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsBase(_unique_name, _server)
{
- min_features_for_keyframe = _server.getParam<unsigned int>(_unique_name + "/min_features_for_keyframe");
- max_new_features = _server.getParam<int>(_unique_name + "/max_new_features");
+ min_features_for_keyframe = _server.getParam<unsigned int>(prefix + _unique_name + "/min_features_for_keyframe");
+ max_new_features = _server.getParam<int>(prefix + _unique_name + "/max_new_features");
}
std::string print() const
{
@@ -103,6 +103,7 @@ class ProcessorTracker : public ProcessorBase
CaptureBasePtr incoming_ptr_; ///< Pointer to the incoming capture being processed.
FeatureBasePtrList new_features_last_; ///< List of new features in \b last for landmark initialization and new key-frame creation.
FeatureBasePtrList new_features_incoming_; ///< list of the new features of \b last successfully tracked in \b incoming
+ FeatureBasePtrList known_features_incoming_; ///< list of the known features in \b last successfully tracked in \b incoming
public:
ProcessorTracker(const std::string& _type,
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index 32da47d13e3fc0393fb7b8b95098d4f6db0751f0..f05fb89762d6efef528c100502523b41a869af9f 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -92,7 +92,6 @@ class ProcessorTrackerFeature : public ProcessorTracker
ProcessorParamsTrackerFeaturePtr params_tracker_feature_;
TrackMatrix track_matrix_;
- FeatureBasePtrList known_features_incoming_;
FeatureMatchMap matches_last_from_incoming_;
/** \brief Process known Features
diff --git a/include/core/sensor/sensor_base.h b/include/core/sensor/sensor_base.h
index 9e39b4c290b6c4d0bf9461bf34cd0a7b723a6452..6393a71aa3c9a83facec9d9166a48f04ebf01b0e 100644
--- a/include/core/sensor/sensor_base.h
+++ b/include/core/sensor/sensor_base.h
@@ -36,7 +36,7 @@ namespace wolf {
static \
SensorBasePtr create(const std::string& _unique_name, const ParamsServer& _server) \
{ \
- Eigen::VectorXs extrinsics = _server.template getParam<Eigen::VectorXs>(_unique_name + "/extrinsic/pose"); \
+ Eigen::VectorXs extrinsics = _server.template getParam<Eigen::VectorXs>("sensor/" + _unique_name + "/extrinsic/pose"); \
\
assert(extrinsics.size() == ExtrinsicsSize && "Bad extrinsics vector length."); \
\
@@ -72,6 +72,7 @@ SensorBasePtr create(const std::string& _unique_name, const Eigen::VectorXs& _ex
*/
struct IntrinsicsBase: public ParamsBase
{
+ std::string prefix = "sensor/";
virtual ~IntrinsicsBase() = default;
using ParamsBase::ParamsBase;
std::string print() const
diff --git a/include/core/sensor/sensor_diff_drive.h b/include/core/sensor/sensor_diff_drive.h
index 47b0b7886ee9a123e39a5b8cb90576d8a2562ea6..9bb434a33ad11283b4fe31ae60330e23cf809749 100644
--- a/include/core/sensor/sensor_diff_drive.h
+++ b/include/core/sensor/sensor_diff_drive.h
@@ -27,10 +27,10 @@ struct IntrinsicsDiffDrive : public IntrinsicsBase
IntrinsicsDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
IntrinsicsBase(_unique_name, _server)
{
- radius_left = _server.getParam<Scalar>(_unique_name + "/radius_left");
- radius_right = _server.getParam<Scalar>(_unique_name + "/radius_right");
- wheel_separation = _server.getParam<Scalar>(_unique_name + "/wheel_separation");
- ticks_per_wheel_revolution = _server.getParam<Scalar>(_unique_name + "/ticks_per_wheel_revolution");
+ radius_left = _server.getParam<Scalar>(prefix + _unique_name + "/radius_left");
+ radius_right = _server.getParam<Scalar>(prefix + _unique_name + "/radius_right");
+ wheel_separation = _server.getParam<Scalar>(prefix + _unique_name + "/wheel_separation");
+ ticks_per_wheel_revolution = _server.getParam<Scalar>(prefix + _unique_name + "/ticks_per_wheel_revolution");
}
std::string print() const
{
diff --git a/include/core/sensor/sensor_odom_2D.h b/include/core/sensor/sensor_odom_2D.h
index 463a9c3d95053f3753c3b59b2769cfb669b9a0e7..9d7c51985cadd8acba19308546f9a7bc05ddb40e 100644
--- a/include/core/sensor/sensor_odom_2D.h
+++ b/include/core/sensor/sensor_odom_2D.h
@@ -22,8 +22,8 @@ struct IntrinsicsOdom2D : public IntrinsicsBase
IntrinsicsOdom2D(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
- k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
+ k_disp_to_disp = _server.getParam<Scalar>(prefix + _unique_name + "/k_disp_to_disp");
+ k_rot_to_rot = _server.getParam<Scalar>(prefix + _unique_name + "/k_rot_to_rot");
}
std::string print() const
{
diff --git a/include/core/sensor/sensor_odom_3D.h b/include/core/sensor/sensor_odom_3D.h
index 3e141b93916455d280990d2aed3d27d54d156835..65e89d672f086633423ebfeafefe856272123fd6 100644
--- a/include/core/sensor/sensor_odom_3D.h
+++ b/include/core/sensor/sensor_odom_3D.h
@@ -30,11 +30,11 @@ struct IntrinsicsOdom3D : public IntrinsicsBase
IntrinsicsOdom3D(std::string _unique_name, const ParamsServer& _server):
IntrinsicsBase(_unique_name, _server)
{
- k_disp_to_disp = _server.getParam<Scalar>(_unique_name + "/k_disp_to_disp");
- k_disp_to_rot = _server.getParam<Scalar>(_unique_name + "/k_disp_to_rot");
- k_rot_to_rot = _server.getParam<Scalar>(_unique_name + "/k_rot_to_rot");
- min_disp_var = _server.getParam<Scalar>(_unique_name + "/min_disp_var");
- min_rot_var = _server.getParam<Scalar>(_unique_name + "/min_rot_var");
+ k_disp_to_disp = _server.getParam<Scalar>(prefix + _unique_name + "/k_disp_to_disp");
+ k_disp_to_rot = _server.getParam<Scalar>(prefix + _unique_name + "/k_disp_to_rot");
+ k_rot_to_rot = _server.getParam<Scalar>(prefix + _unique_name + "/k_rot_to_rot");
+ min_disp_var = _server.getParam<Scalar>(prefix + _unique_name + "/min_disp_var");
+ min_rot_var = _server.getParam<Scalar>(prefix + _unique_name + "/min_rot_var");
}
std::string print() const
{
diff --git a/include/core/yaml/parser_yaml.hpp b/include/core/yaml/parser_yaml.hpp
index 643d5d1fdbdc25246001d3c041aa3f49c06b8d2c..c661e078a8306acf63b98425f642460ec522dc77 100644
--- a/include/core/yaml/parser_yaml.hpp
+++ b/include/core/yaml/parser_yaml.hpp
@@ -189,6 +189,7 @@ class ParserYAML {
YAML::Node problem;
std::string generatePath(std::string);
YAML::Node loadYAML(std::string);
+ void insert_register(std::string, std::string);
public:
ParserYAML(){
_params = std::map<std::string, std::string>();
@@ -310,13 +311,15 @@ void ParserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::st
std::string str = n.Scalar();
walkTree(str.substr(1,str.size() - 1), tags, hdr);
}else{
- _params.insert(std::pair<std::string,std::string>(hdr, n.Scalar()));
+ insert_register(hdr, n.Scalar());
+ // _params.insert(std::pair<std::string,std::string>);
}
break;
}
case YAML::NodeType::Sequence : {
if(isAtomic("", n)){
- _params.insert(std::pair<std::string,std::string>(hdr, parseAtomicNode(n)));
+ insert_register(hdr, parseAtomicNode(n));
+ // _params.insert(std::pair<std::string,std::string>);
}else{
for(const auto& kv : n){
walkTreeR(kv, tags, hdr);
@@ -330,7 +333,8 @@ void ParserYAML::walkTreeR(YAML::Node n, std::vector<std::string>& tags, std::st
std::string key = kv.first.as<std::string>();
//WOLF_DEBUG("KEY IN MAP ATOMIC ", hdr + "/" + key);
key = key.substr(1,key.size() - 1);
- _params.insert(std::pair<std::string,std::string>(hdr + "/" + key, parseAtomicNode(kv.second)));
+ insert_register(hdr + "/" + key, parseAtomicNode(kv.second));
+ // _params.insert(std::pair<std::string,std::string>);
}else{
/*
If key=="follow" then the parser will assume that the value is a path and will parse
@@ -413,7 +417,8 @@ void ParserYAML::parseFirstLevel(std::string file){
for(const auto& kv : n_files){
_files.push_back(kv.Scalar());
}
- _params.insert(std::pair<std::string,std::string>("files", wolf::converter<std::string>::convert(_files)));
+ insert_register("files", wolf::converter<std::string>::convert(_files));
+ // _params.insert(std::pair<std::string,std::string>);
}
std::vector<std::array<std::string, 2>> ParserYAML::sensorsSerialization(){
std::vector<std::array<std::string, 2>> aux = std::vector<std::array<std::string, 2>>();
@@ -450,11 +455,13 @@ void ParserYAML::parse(){
}
for(auto it : _paramsSens){
std::vector<std::string> tags = std::vector<std::string>();
- this->walkTreeR(it.n , tags , it._name);
+ tags.push_back("sensor");
+ this->walkTreeR(it.n , tags , "sensor/" + it._name);
}
for(auto it : _paramsProc){
std::vector<std::string> tags = std::vector<std::string>();
- this->walkTreeR(it.n , tags , it._name);
+ tags.push_back("processor");
+ this->walkTreeR(it.n , tags , "processor/" + it._name);
}
this->_parsing_file.pop();
}
@@ -464,4 +471,9 @@ void ParserYAML::parse_freely(){
this->walkTreeR(loadYAML(this->_file), tags, "");
this->_parsing_file.pop();
}
+void ParserYAML::insert_register(std::string key, std::string value){
+ // _params.insert(std::pair<std::string,std::string>);
+ auto inserted_it = _params.insert(std::pair<std::string, std::string>(key, value));
+ if(not inserted_it.second) WOLF_WARN("Skipping key '", key, "' with value '", value, "'. There already exists the register: (", inserted_it.first->first, ",", inserted_it.first->second, ")");
+}
#endif
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 364808ae965963ca2e9d547f55bbab8113dda235..687a1565cd331827268c2cbd5eeb683944363a3b 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -199,7 +199,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
{
SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
- throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, in must match in sensor and processor!");
+ throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
if (_params_filename == "")
return installProcessor(_prc_type, _unique_processor_name, sen_ptr, nullptr);
else
@@ -217,7 +217,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
{
SensorBasePtr sen_ptr = getSensor(_corresponding_sensor_name);
if (sen_ptr == nullptr)
- throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, in must match in sensor and processor!");
+ throw std::runtime_error("Cannot bind processor. Reason: Sensor \"" + _corresponding_sensor_name + "\" not found. Check sensor name, it must match in sensor and processor!");
ProcessorBasePtr prc_ptr = AutoConfProcessorFactory::get().create(uppercase(_prc_type), _unique_processor_name, _server);
prc_ptr->configure(sen_ptr);
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 0dd6f17498447836bf86a0f264c262db04dff739..d6ce9c065e8c0611f6e1190acf1fe4555d83cdf6 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -36,18 +36,23 @@ unsigned int ProcessorTrackerFeature::processNew(const int& _max_new_features)
matches_last_from_incoming_.clear();
// Populate the last Capture with new Features. The result is in new_features_last_.
- unsigned int n = detectNewFeatures(_max_new_features, last_ptr_, new_features_last_);
+ unsigned int n = detectNewFeatures(_max_new_features,
+ last_ptr_,
+ new_features_last_);
// check all features have been emplaced
assert(std::all_of(new_features_last_.begin(), new_features_last_.end(), [](FeatureBasePtr f){return f->getCapture() != nullptr;}) &&
- "any not linked feature returned by detectNewFeatures()");
+ "some features not linked after returning from detectNewFeatures()");
// fill the track matrix
for (auto ftr : new_features_last_)
track_matrix_.newTrack(ftr);
// Track new features from last to incoming. This will append new correspondences to matches_last_incoming
- trackFeatures(new_features_last_, incoming_ptr_, new_features_incoming_, matches_last_from_incoming_);
+ trackFeatures(new_features_last_,
+ incoming_ptr_,
+ new_features_incoming_,
+ matches_last_from_incoming_);
// check all features have been emplaced
assert(std::all_of(new_features_incoming_.begin(), new_features_incoming_.end(), [](FeatureBasePtr f){return f->getCapture() != nullptr;}) &&
@@ -68,15 +73,14 @@ unsigned int ProcessorTrackerFeature::processKnown()
{
assert(incoming_ptr_->getFeatureList().size() == 0
&& "In ProcessorTrackerFeature::processKnown(): incoming_ptr_ feature list must be empty before processKnown()");
- assert(matches_last_from_incoming_.size() == 0
- && "In ProcessorTrackerFeature::processKnown(): match list from last to incoming must be empty before processKnown()");
// clear list of known features
+ matches_last_from_incoming_.clear();
known_features_incoming_.clear();
if (!last_ptr_ || last_ptr_->getFeatureList().empty())
{
- WOLF_DEBUG("empty last feature list, returning...");
+ WOLF_TRACE("Empty last feature list, returning...");
return 0;
}
@@ -109,10 +113,10 @@ unsigned int ProcessorTrackerFeature::processKnown()
if (!correctFeatureDrift(feature_in_origin, feature_in_last, (*ftr_inc_it)))
{
// Remove this feature from many places:
- assert(matches_last_from_incoming_.count(*ftr_inc_it));
+ assert(matches_last_from_incoming_ .count(*ftr_inc_it));
matches_last_from_incoming_ .erase (*ftr_inc_it); // remove match
track_matrix_ .remove(*ftr_inc_it); // remove from track matrix
- (*ftr_inc_it)-> remove(); // remove from wolf tree
+ (*ftr_inc_it) ->remove(); // remove from wolf tree
ftr_inc_it = known_features_incoming_.erase(ftr_inc_it); // remove from known features list
}
else
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 0d7c50c2a9e6ac8a3e91009a1ed361251a4104aa..76514fb7dc00451036013373a6aa26f5f6a4b93f 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -48,17 +48,17 @@ void ProcessorTrackerLandmark::resetDerived()
unsigned int ProcessorTrackerLandmark::processKnown()
{
- assert(matches_landmark_from_incoming_.empty());
+ matches_landmark_from_incoming_.clear();
+ known_features_incoming_.clear();
// Find landmarks in incoming_ptr_
- FeatureBasePtrList known_features_list_incoming;
unsigned int n = findLandmarks(getProblem()->getMap()->getLandmarkList(),
incoming_ptr_,
- known_features_list_incoming,
+ known_features_incoming_,
matches_landmark_from_incoming_);
// check all features have been emplaced
- assert(std::all_of(known_features_list_incoming.begin(), known_features_list_incoming.end(), [](FeatureBasePtr f){return f->getCapture() != nullptr;}) &&
+ assert(std::all_of(known_features_incoming_.begin(), known_features_incoming_.end(), [](FeatureBasePtr f){return f->getCapture() != nullptr;}) &&
"any not linked feature returned by findLandmarks()");
return n;
@@ -100,7 +100,7 @@ unsigned int ProcessorTrackerLandmark::processNew(const int& _max_features)
// check all features have been emplaced
assert(std::all_of(new_features_incoming_.begin(), new_features_incoming_.end(), [](FeatureBasePtr f){return f->getCapture() != nullptr;}) &&
- "any not linked feature returned by findLandmarks()");
+ "some features not linked after returning from detectNewFeatures()");
}
// return the number of new features detected in \b last
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 0590d45758707561cfc86b879b1943011e77ed73..b4fdb44a79f6d5053e258379e1eadc8811cbfae7 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -25,7 +25,7 @@ struct ProcessorParamsTrackerFeatureDummy : public ProcessorParamsTrackerFeature
ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerFeature(_unique_name, _server)
{
- n_tracks_lost = _server.getParam<unsigned int>(_unique_name + "/n_tracks_lost");
+ n_tracks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_tracks_lost");
}
};
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index 106f9ba2a1ea683eb763fc76e7f334e2bf8509b3..a9531c8db7a0372636c1d0cb605c21c38aec8446 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -23,7 +23,7 @@ struct ProcessorParamsTrackerLandmarkDummy : public ProcessorParamsTrackerLandma
ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
ProcessorParamsTrackerLandmark(_unique_name, _server)
{
- n_landmarks_lost = _server.getParam<unsigned int>(_unique_name + "/n_landmarks_lost");
+ n_landmarks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_landmarks_lost");
}
};
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index 7d155a86f70e66ae8d6f869f54eadc9b63fb68bf..aea2db7da463b6076179b7b8bbcd18e2a3dd2046 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -7,6 +7,8 @@ using namespace std;
using namespace wolf;
std::string wolf_root = _WOLF_ROOT_DIR;
+std::string sensor_prefix = "sensor/";
+std::string processor_prefix = "processor/";
ParserYAML parse(string _file, string _path_root)
{
@@ -21,8 +23,8 @@ TEST(ParserYAML, RegularParse)
auto params = parser.getParams();
// for(auto it : params)
// cout << it.first << " %% " << it.second << endl;
- EXPECT_EQ(params["odom/intrinsic/k_rot_to_rot"], "0.1");
- EXPECT_EQ(params["processor1/sensor_name"], "odom");
+ EXPECT_EQ(params[sensor_prefix + "odom/intrinsic/k_rot_to_rot"], "0.1");
+ EXPECT_EQ(params[processor_prefix + "processor1/sensor_name"], "odom");
}
TEST(ParserYAML, ParseMap)
{
@@ -30,29 +32,29 @@ TEST(ParserYAML, ParseMap)
auto params = parser.getParams();
// for(auto it : params)
// cout << it.first << " %% " << it.second << endl;
- EXPECT_EQ(params["processor1/mymap"], "[{k1:v1},{k2:v2},{k3:[v3,v4,v5]}]");
+ EXPECT_EQ(params[processor_prefix + "processor1/mymap"], "[{k1:v1},{k2:v2},{k3:[v3,v4,v5]}]");
// EXPECT_EQ(params["processor1/$mymap/k1"], "v1");
}
TEST(ParserYAML, FollowFile)
{
auto parser = parse("test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
- EXPECT_EQ(params["my_proc_test/max_buff_length"], "100");
- EXPECT_EQ(params["my_proc_test/voting_active"], "false");
+ EXPECT_EQ(params[processor_prefix + "my_proc_test/max_buff_length"], "100");
+ EXPECT_EQ(params[processor_prefix + "my_proc_test/voting_active"], "false");
}
TEST(ParserYAML, FollowOdom3D)
{
auto parser = parse("test/yaml/params1.yaml", wolf_root);
auto params = parser.getParams();
- EXPECT_EQ(params["my_proc_odom3d/keyframe_vote/max_buff_length"], "10");
- EXPECT_EQ(params["my_proc_odom3d/keyframe_vote/max_time_span"], "0.2");
+ EXPECT_EQ(params[processor_prefix + "my_proc_odom3d/keyframe_vote/max_buff_length"], "10");
+ EXPECT_EQ(params[processor_prefix + "my_proc_odom3d/keyframe_vote/max_time_span"], "0.2");
}
TEST(ParserYAML, JumpFile)
{
auto parser = parse("test/yaml/params3.yaml", wolf_root);
auto params = parser.getParams();
- EXPECT_EQ(params["my_proc_test/extern_params/max_buff_length"], "100");
- EXPECT_EQ(params["my_proc_test/extern_params/voting_active"], "false");
+ EXPECT_EQ(params[processor_prefix + "my_proc_test/extern_params/max_buff_length"], "100");
+ EXPECT_EQ(params[processor_prefix + "my_proc_test/extern_params/voting_active"], "false");
}
TEST(ParserYAML, ProblemConfig)
{