diff --git a/hello_wolf/hello_wolf.cpp b/hello_wolf/hello_wolf.cpp
index ac33da83c3fece5dce946e9c808869edd511e6f4..8cb2ea566e8682395cd20dbc278ac93ad41c2060 100644
--- a/hello_wolf/hello_wolf.cpp
+++ b/hello_wolf/hello_wolf.cpp
@@ -115,7 +115,7 @@ int main()
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2d", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
// processor odometer 2d
- ProcessorParamsOdom2dPtr params_odo = std::make_shared<ProcessorParamsOdom2d>();
+ ParamsProcessorOdom2dPtr params_odo = std::make_shared<ParamsProcessorOdom2d>();
params_odo->voting_active = true;
params_odo->time_tolerance = 0.1;
params_odo->max_time_span = 999;
@@ -132,7 +132,7 @@ int main()
SensorBasePtr sensor_rb = problem->installSensor("SensorRangeBearing", "sensor RB", Vector3d(1,1,0), intrinsics_rb);
// processor Range and Bearing
- ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
+ ParamsProcessorRangeBearingPtr params_rb = std::make_shared<ParamsProcessorRangeBearing>();
params_rb->voting_active = false;
params_rb->time_tolerance = 0.01;
ProcessorBasePtr processor_rb = problem->installProcessor("ProcessorRangeBearing", "processor RB", sensor_rb, params_rb);
diff --git a/hello_wolf/processor_range_bearing.cpp b/hello_wolf/processor_range_bearing.cpp
index 89b3d7775e3c5b79dca8de4a0d2f6f5ad91d17e7..69c3651d48065490622c59d39fa758289226b16e 100644
--- a/hello_wolf/processor_range_bearing.cpp
+++ b/hello_wolf/processor_range_bearing.cpp
@@ -14,7 +14,7 @@
namespace wolf
{
-ProcessorRangeBearing::ProcessorRangeBearing(ProcessorParamsBasePtr _params) :
+ProcessorRangeBearing::ProcessorRangeBearing(ParamsProcessorBasePtr _params) :
ProcessorBase("ProcessorRangeBearing", 2, _params)
{
//
diff --git a/hello_wolf/processor_range_bearing.h b/hello_wolf/processor_range_bearing.h
index ec1d8619835f1169a192639db09d8be93087cdae..1203b217e4f07c3e02a287f63b0bace4ba46ede2 100644
--- a/hello_wolf/processor_range_bearing.h
+++ b/hello_wolf/processor_range_bearing.h
@@ -17,23 +17,23 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsRangeBearing);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorRangeBearing);
-struct ProcessorParamsRangeBearing : public ProcessorParamsBase
+struct ParamsProcessorRangeBearing : public ParamsProcessorBase
{
// We do not need special parameters, but in case you need they should be defined here.
- ProcessorParamsRangeBearing()
+ ParamsProcessorRangeBearing()
{
//DEFINED FOR COMPATIBILITY PURPOSES. TO BE REMOVED IN THE FUTURE.
}
- ProcessorParamsRangeBearing(std::string _unique_name, const ParamsServer& _server) :
- ProcessorParamsBase(_unique_name, _server)
+ ParamsProcessorRangeBearing(std::string _unique_name, const ParamsServer& _server) :
+ ParamsProcessorBase(_unique_name, _server)
{
//
}
std::string print() const
{
- return "\n" + ProcessorParamsBase::print();
+ return "\n" + ParamsProcessorBase::print();
}
};
@@ -45,12 +45,12 @@ class ProcessorRangeBearing : public ProcessorBase
public:
typedef Eigen::Transform<double, 2, Eigen::Isometry> Trf;
- ProcessorRangeBearing(ProcessorParamsBasePtr _params);
+ ProcessorRangeBearing(ParamsProcessorBasePtr _params);
virtual ~ProcessorRangeBearing() {/* empty */}
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorRangeBearing, ProcessorParamsRangeBearing);
+ WOLF_PROCESSOR_CREATE(ProcessorRangeBearing, ParamsProcessorRangeBearing);
protected:
// Implementation of pure virtuals from ProcessorBase
diff --git a/include/core/common/factory.h b/include/core/common/factory.h
index f03cabec9a7527801464d9e4e025464a7d23f0ad..0d02a89c38568accad79597c9da881d752419d3a 100644
--- a/include/core/common/factory.h
+++ b/include/core/common/factory.h
@@ -87,7 +87,7 @@ namespace wolf
*
* \code
* typedef Factory<ParamsSensorBase, std::string> ParamsSensorFactory;
- * typedef Factory<ProcessorParamsBase, std::string> ProcessorParamsFactory;
+ * typedef Factory<ParamsProcessorBase, std::string> ParamsProcessorFactory;
* typedef Factory<LandmarkBase, YAML::Node> LandmarkFactory;
* \endcode
*
@@ -219,7 +219,7 @@ namespace wolf
*
* ### More information
* - ParamsSensorFactory: typedef of this template to create intrinsic structs deriving from ParamsSensorBase directly from YAML files.
- * - ProcessorParamsFactory: typedef of this template to create processor params structs deriving from ProcessorParamsBase directly from YAML files.
+ * - ParamsProcessorFactory: typedef of this template to create processor params structs deriving from ParamsProcessorBase directly from YAML files.
* - LandmarkFactory: typedef of this template to create landmarks deriving from LandmarkBase directly from YAML nodes.
* - Problem::loadMap() : to load a maps directly from YAML files.
* - You can also check the code in the example file ````src/examples/test_map_yaml.cpp````.
diff --git a/include/core/common/wolf.h b/include/core/common/wolf.h
index 64a4741c518ecd0f75bf029aa4e3267b1e3f8c4e..93b753b77cbe1560b1eef3a50f9e299e188da2ff 100644
--- a/include/core/common/wolf.h
+++ b/include/core/common/wolf.h
@@ -230,7 +230,7 @@ WOLF_LIST_TYPEDEFS(ProcessorBase);
WOLF_PTR_TYPEDEFS(ProcessorMotion);
// - - Processor params
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsBase);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorBase);
// Trajectory
WOLF_PTR_TYPEDEFS(TrajectoryBase);
diff --git a/include/core/problem/problem.h b/include/core/problem/problem.h
index f2b19ef05c22f7a4c6777f889031dbda45d80a5b..1f76367e64d5345f8e475f3c5a79b19b98d01fba 100644
--- a/include/core/problem/problem.h
+++ b/include/core/problem/problem.h
@@ -11,7 +11,7 @@ class ProcessorMotion;
class StateBlock;
class TimeStamp;
struct ParamsSensorBase;
-struct ProcessorParamsBase;
+struct ParamsProcessorBase;
}
//wolf includes
@@ -119,7 +119,7 @@ class Problem : public std::enable_shared_from_this<Problem>
ProcessorBasePtr installProcessor(const std::string& _prc_type, //
const std::string& _unique_processor_name, //
SensorBasePtr _corresponding_sensor_ptr, //
- ProcessorParamsBasePtr _prc_params = nullptr);
+ ParamsProcessorBasePtr _prc_params = nullptr);
/** \brief Factory method to install (create, and add to sensor) processors only from its properties
*
diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index dc62abcac8375fc238f7c93617a33ccb8662d246..0d0e54eef5217c037dabbf00eb4f3b87f100e283 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -30,13 +30,13 @@ namespace wolf {
* In order to use this macro, the derived processor class, ProcessorClass,
* must have a constructor available with the API:
*
- * ProcessorClass(const ProcessorParamsClassPtr _params);
+ * ProcessorClass(const ParamsProcessorClassPtr _params);
*/
-#define WOLF_PROCESSOR_CREATE(ProcessorClass, ProcessorParamsClass) \
+#define WOLF_PROCESSOR_CREATE(ProcessorClass, ParamsProcessorClass) \
static ProcessorBasePtr create(const std::string& _unique_name, \
const ParamsServer& _server) \
{ \
- auto params = std::make_shared<ProcessorParamsClass>(_unique_name, _server); \
+ auto params = std::make_shared<ParamsProcessorClass>(_unique_name, _server); \
\
auto processor = std::make_shared<ProcessorClass>(params); \
\
@@ -44,9 +44,9 @@ static ProcessorBasePtr create(const std::string& _unique_name,
\
return processor; \
} \
-static ProcessorBasePtr create(const std::string& _unique_name, const ProcessorParamsBasePtr _params) \
+static ProcessorBasePtr create(const std::string& _unique_name, const ParamsProcessorBasePtr _params) \
{ \
- auto params = std::static_pointer_cast<ProcessorParamsClass>(_params); \
+ auto params = std::static_pointer_cast<ParamsProcessorClass>(_params); \
\
auto processor = std::make_shared<ProcessorClass>(params); \
\
@@ -208,11 +208,11 @@ class BufferCapture : public Buffer<CaptureBasePtr> {};
*
* Derive from this struct to create structs of processor parameters.
*/
-struct ProcessorParamsBase : public ParamsBase
+struct ParamsProcessorBase : public ParamsBase
{
std::string prefix = "processor/";
- ProcessorParamsBase() = default;
- ProcessorParamsBase(std::string _unique_name, const ParamsServer& _server):
+ ParamsProcessorBase() = default;
+ ParamsProcessorBase(std::string _unique_name, const ParamsServer& _server):
ParamsBase(_unique_name, _server)
{
time_tolerance = _server.getParam<double>(prefix + _unique_name + "/time_tolerance");
@@ -221,7 +221,7 @@ struct ProcessorParamsBase : public ParamsBase
apply_loss_function = _server.getParam<bool>(prefix + _unique_name + "/apply_loss_function");
}
- virtual ~ProcessorParamsBase() = default;
+ virtual ~ParamsProcessorBase() = default;
/** maximum time difference between a Keyframe time stamp and
* a particular Capture of this processor to allow assigning
@@ -248,7 +248,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
friend SensorBase;
protected:
unsigned int processor_id_;
- ProcessorParamsBasePtr params_;
+ ParamsProcessorBasePtr params_;
BufferPackKeyFrame buffer_pack_kf_;
BufferCapture buffer_capture_;
int dim_;
@@ -258,7 +258,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
static unsigned int processor_id_count_;
public:
- ProcessorBase(const std::string& _type, int _dim, ProcessorParamsBasePtr _params);
+ ProcessorBase(const std::string& _type, int _dim, ParamsProcessorBasePtr _params);
virtual ~ProcessorBase();
virtual void configure(SensorBasePtr _sensor) = 0;
virtual void remove();
diff --git a/include/core/processor/processor_diff_drive.h b/include/core/processor/processor_diff_drive.h
index 48d18acccc0e48f3f5f2373b0ece28e2da607f61..bcbf3f6034250a3ffd0ac3e00b73501643d1b69b 100644
--- a/include/core/processor/processor_diff_drive.h
+++ b/include/core/processor/processor_diff_drive.h
@@ -13,18 +13,18 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsDiffDrive);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorDiffDrive);
-struct ProcessorParamsDiffDrive : public ProcessorParamsOdom2d
+struct ParamsProcessorDiffDrive : public ParamsProcessorOdom2d
{
- ProcessorParamsDiffDrive() = default;
- ProcessorParamsDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
- ProcessorParamsOdom2d(_unique_name, _server)
+ ParamsProcessorDiffDrive() = default;
+ ParamsProcessorDiffDrive(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorOdom2d(_unique_name, _server)
{
}
std::string print() const
{
- return "\n" + ProcessorParamsOdom2d::print();
+ return "\n" + ParamsProcessorOdom2d::print();
}
};
@@ -33,12 +33,12 @@ WOLF_PTR_TYPEDEFS(ProcessorDiffDrive);
class ProcessorDiffDrive : public ProcessorOdom2d
{
public:
- ProcessorDiffDrive(ProcessorParamsDiffDrivePtr _params_motion);
+ ProcessorDiffDrive(ParamsProcessorDiffDrivePtr _params_motion);
virtual ~ProcessorDiffDrive();
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorDiffDrive, ProcessorParamsDiffDrive);
+ WOLF_PROCESSOR_CREATE(ProcessorDiffDrive, ParamsProcessorDiffDrive);
protected:
// Motion integration
@@ -63,7 +63,7 @@ class ProcessorDiffDrive : public ProcessorOdom2d
protected:
- ProcessorParamsDiffDrivePtr params_prc_diff_drv_selfcal_;
+ ParamsProcessorDiffDrivePtr params_prc_diff_drv_selfcal_;
double radians_per_tick_;
};
diff --git a/include/core/processor/processor_factory.h b/include/core/processor/processor_factory.h
index c14f3daa364678ef6f549fa04f65eddb4885e1fd..947955d4b92d58348b7bb86ded547b380e334b12 100644
--- a/include/core/processor/processor_factory.h
+++ b/include/core/processor/processor_factory.h
@@ -11,7 +11,7 @@
namespace wolf
{
class ProcessorBase;
-struct ProcessorParamsBase;
+struct ParamsProcessorBase;
}
// wolf
@@ -74,16 +74,16 @@ namespace wolf
*
* The method ProcessorOdom2d::create() exists in the ProcessorOdom2d class as a static method.
* All these ProcessorXxx::create() methods need to have exactly the same API, regardless of the processor type.
- * This API includes a processor name, and a pointer to a base struct of parameters, ProcessorParamsBasePtr,
+ * This API includes a processor name, and a pointer to a base struct of parameters, ParamsProcessorBasePtr,
* that can be derived for each derived processor.
*
* Here is an example of ProcessorOdom2d::create() extracted from processor_odom_2d.h:
*
* \code
- * static ProcessorBasePtr create(const std::string& _name, ProcessorParamsBasePtr _params)
+ * static ProcessorBasePtr create(const std::string& _name, ParamsProcessorBasePtr _params)
* {
* // cast _params to good type
- * ProcessorParamsOdom2d* params = (ProcessorParamsOdom2d*)_params;
+ * ParamsProcessorOdom2d* params = (ParamsProcessorOdom2d*)_params;
*
* ProcessorBasePtr prc = new ProcessorOdom2d(params);
* prc->setName(_name); // pass the name to the created ProcessorOdom2d.
@@ -136,7 +136,7 @@ namespace wolf
*
* // To create a odometry integrator, provide a type="ODOM 2d", a name="main odometry", and a pointer to the parameters struct:
*
- * ProcessorParamsOdom2d params({...}); // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
+ * ParamsProcessorOdom2d params({...}); // fill in the derived struct (note: ProcessorOdom2d actually has no input params)
*
* ProcessorBasePtr processor_ptr =
* ProcessorFactory::get().create ( "ProcessorOdom2d" , "main odometry" , ¶ms );
@@ -165,20 +165,20 @@ namespace wolf
* You can also check the code in the example file ````src/examples/test_wolf_factories.cpp````.
*/
-// ProcessorParams factory
-struct ProcessorParamsBase;
-typedef Factory<ProcessorParamsBase,
- const std::string&> ProcessorParamsFactory;
+// ParamsProcessor factory
+struct ParamsProcessorBase;
+typedef Factory<ParamsProcessorBase,
+ const std::string&> ParamsProcessorFactory;
template<>
-inline std::string ProcessorParamsFactory::getClass()
+inline std::string ParamsProcessorFactory::getClass()
{
- return "ProcessorParamsFactory";
+ return "ParamsProcessorFactory";
}
// Processor factory
typedef Factory<ProcessorBase,
const std::string&,
- const ProcessorParamsBasePtr> ProcessorFactory;
+ const ParamsProcessorBasePtr> ProcessorFactory;
template<>
inline std::string ProcessorFactory::getClass()
{
diff --git a/include/core/processor/processor_loopclosure.h b/include/core/processor/processor_loopclosure.h
index b0720f3a47afdfd7878b23929923295964340ea5..cbd8fa378738ad55d1072d63b7a6162a169077fa 100644
--- a/include/core/processor/processor_loopclosure.h
+++ b/include/core/processor/processor_loopclosure.h
@@ -6,12 +6,12 @@
namespace wolf{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsLoopClosure);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorLoopClosure);
-struct ProcessorParamsLoopClosure : public ProcessorParamsBase
+struct ParamsProcessorLoopClosure : public ParamsProcessorBase
{
- using ProcessorParamsBase::ProcessorParamsBase;
- // virtual ~ProcessorParamsLoopClosure() = default;
+ using ParamsProcessorBase::ParamsProcessorBase;
+ // virtual ~ParamsProcessorLoopClosure() = default;
// add neccesery parameters for loop closure initialisation here and initialize
// them in constructor
@@ -46,12 +46,12 @@ class ProcessorLoopClosure : public ProcessorBase
{
protected:
- ProcessorParamsLoopClosurePtr params_loop_closure_;
+ ParamsProcessorLoopClosurePtr params_loop_closure_;
int _dim;
public:
- ProcessorLoopClosure(const std::string& _type, int _dim, ProcessorParamsLoopClosurePtr _params_loop_closure);
+ ProcessorLoopClosure(const std::string& _type, int _dim, ParamsProcessorLoopClosurePtr _params_loop_closure);
virtual ~ProcessorLoopClosure() = default;
virtual void configure(SensorBasePtr _sensor) override { };
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 81a9184ad4798ccbaac1ebd61a194f6e287331b4..36ebafaea99994c11f9bea31781a159628073eac 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -21,9 +21,9 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsMotion);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorMotion);
-struct ProcessorParamsMotion : public ProcessorParamsBase
+struct ParamsProcessorMotion : public ParamsProcessorBase
{
double max_time_span = 0.5;
unsigned int max_buff_length = 10;
@@ -31,9 +31,9 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
double angle_turned = 0.5;
double unmeasured_perturbation_std = 1e-4;
- ProcessorParamsMotion() = default;
- ProcessorParamsMotion(std::string _unique_name, const ParamsServer& _server):
- ProcessorParamsBase(_unique_name, _server)
+ ParamsProcessorMotion() = default;
+ ParamsProcessorMotion(std::string _unique_name, const ParamsServer& _server):
+ ParamsProcessorBase(_unique_name, _server)
{
max_time_span = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/max_time_span");
max_buff_length = _server.getParam<unsigned int>(prefix + _unique_name + "/keyframe_vote/max_buff_length");
@@ -43,7 +43,7 @@ struct ProcessorParamsMotion : public ProcessorParamsBase
}
std::string print() const
{
- return "\n" + ProcessorParamsBase::print() + "\n"
+ return "\n" + ParamsProcessorBase::print() + "\n"
+ "max_time_span: " + std::to_string(max_time_span) + "\n"
+ "max_buff_length: " + std::to_string(max_buff_length) + "\n"
+ "dist_traveled: " + std::to_string(dist_traveled) + "\n"
@@ -141,7 +141,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
} ProcessingStep ;
protected:
- ProcessorParamsMotionPtr params_motion_;
+ ParamsProcessorMotionPtr params_motion_;
ProcessingStep processing_step_; ///< State machine controlling the processing step
virtual void setProblem(ProblemPtr) override;
@@ -155,7 +155,7 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
SizeEigen _delta_cov_size,
SizeEigen _data_size,
SizeEigen _calib_size,
- ProcessorParamsMotionPtr _params_motion);
+ ParamsProcessorMotionPtr _params_motion);
virtual ~ProcessorMotion();
// Instructions to the processor:
diff --git a/include/core/processor/processor_odom_2d.h b/include/core/processor/processor_odom_2d.h
index b03416837ec1b0a6a86a67ff0cf40fdf820b1370..a626833c99d6b5e6987fab4259f68bf466bd6570 100644
--- a/include/core/processor/processor_odom_2d.h
+++ b/include/core/processor/processor_odom_2d.h
@@ -17,22 +17,22 @@
namespace wolf {
WOLF_PTR_TYPEDEFS(ProcessorOdom2d);
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom2d);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorOdom2d);
-struct ProcessorParamsOdom2d : public ProcessorParamsMotion
+struct ParamsProcessorOdom2d : public ParamsProcessorMotion
{
double cov_det = 1.0;
- ProcessorParamsOdom2d() = default;
- ProcessorParamsOdom2d(std::string _unique_name, const wolf::ParamsServer & _server) :
- ProcessorParamsMotion(_unique_name, _server)
+ ParamsProcessorOdom2d() = default;
+ ParamsProcessorOdom2d(std::string _unique_name, const wolf::ParamsServer & _server) :
+ ParamsProcessorMotion(_unique_name, _server)
{
cov_det = _server.getParam<double>(prefix + _unique_name + "/keyframe_vote/cov_det");
}
std::string print() const
{
- return "\n" + ProcessorParamsMotion::print() + "\n"
+ return "\n" + ParamsProcessorMotion::print() + "\n"
+ "cov_det: " + std::to_string(cov_det) + "\n";
}
};
@@ -40,12 +40,12 @@ struct ProcessorParamsOdom2d : public ProcessorParamsMotion
class ProcessorOdom2d : public ProcessorMotion
{
public:
- ProcessorOdom2d(ProcessorParamsOdom2dPtr _params);
+ ProcessorOdom2d(ParamsProcessorOdom2dPtr _params);
virtual ~ProcessorOdom2d();
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorOdom2d, ProcessorParamsOdom2d);
+ WOLF_PROCESSOR_CREATE(ProcessorOdom2d, ParamsProcessorOdom2d);
virtual bool voteForKeyFrame() const override;
@@ -86,7 +86,7 @@ class ProcessorOdom2d : public ProcessorMotion
CaptureBasePtr _capture_origin) override;
protected:
- ProcessorParamsOdom2dPtr params_odom_2d_;
+ ParamsProcessorOdom2dPtr params_odom_2d_;
};
diff --git a/include/core/processor/processor_odom_3d.h b/include/core/processor/processor_odom_3d.h
index f8f849b896aad644f998c38b50e8ca198c0738c4..ca0a9619d06dbd285bb9bf8da88943286d87e0bb 100644
--- a/include/core/processor/processor_odom_3d.h
+++ b/include/core/processor/processor_odom_3d.h
@@ -17,19 +17,19 @@
namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsOdom3d);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorOdom3d);
-struct ProcessorParamsOdom3d : public ProcessorParamsMotion
+struct ParamsProcessorOdom3d : public ParamsProcessorMotion
{
- ProcessorParamsOdom3d() = default;
- ProcessorParamsOdom3d(std::string _unique_name, const ParamsServer& _server):
- ProcessorParamsMotion(_unique_name, _server)
+ ParamsProcessorOdom3d() = default;
+ ParamsProcessorOdom3d(std::string _unique_name, const ParamsServer& _server):
+ ParamsProcessorMotion(_unique_name, _server)
{
//
}
std::string print() const
{
- return "\n" + ProcessorParamsMotion::print();
+ return "\n" + ParamsProcessorMotion::print();
}
};
@@ -60,12 +60,12 @@ WOLF_PTR_TYPEDEFS(ProcessorOdom3d);
class ProcessorOdom3d : public ProcessorMotion
{
public:
- ProcessorOdom3d(ProcessorParamsOdom3dPtr _params);
+ ProcessorOdom3d(ParamsProcessorOdom3dPtr _params);
virtual ~ProcessorOdom3d();
virtual void configure(SensorBasePtr _sensor) override;
// Factory method for high level API
- WOLF_PROCESSOR_CREATE(ProcessorOdom3d, ProcessorParamsOdom3d);
+ WOLF_PROCESSOR_CREATE(ProcessorOdom3d, ParamsProcessorOdom3d);
public:
// Motion integration
@@ -107,7 +107,7 @@ class ProcessorOdom3d : public ProcessorMotion
CaptureBasePtr _capture_origin) override;
protected:
- ProcessorParamsOdom3dPtr params_odom_3d_;
+ ParamsProcessorOdom3dPtr params_odom_3d_;
// noise parameters (stolen from owner SensorOdom3d)
double k_disp_to_disp_; // displacement variance growth per meter of linear motion
diff --git a/include/core/processor/processor_tracker.h b/include/core/processor/processor_tracker.h
index d7ab951643fbc2760b8d81110a9f2338a96dad36..f07d906bab503f097330a1d5203f34347a2a6c4e 100644
--- a/include/core/processor/processor_tracker.h
+++ b/include/core/processor/processor_tracker.h
@@ -13,23 +13,23 @@
namespace wolf {
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTracker);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorTracker);
-struct ProcessorParamsTracker : public ProcessorParamsBase
+struct ParamsProcessorTracker : public ParamsProcessorBase
{
unsigned int min_features_for_keyframe; ///< minimum nbr. of features to vote for keyframe
int max_new_features; ///< maximum nbr. of new features to be processed when adding a keyframe (-1: unlimited. 0: none.)
- ProcessorParamsTracker() = default;
- ProcessorParamsTracker(std::string _unique_name, const wolf::ParamsServer & _server):
- ProcessorParamsBase(_unique_name, _server)
+ ParamsProcessorTracker() = default;
+ ParamsProcessorTracker(std::string _unique_name, const wolf::ParamsServer & _server):
+ ParamsProcessorBase(_unique_name, _server)
{
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
{
- return ProcessorParamsBase::print() + "\n"
+ return ParamsProcessorBase::print() + "\n"
+ "min_features_for_keyframe: " + std::to_string(min_features_for_keyframe) + "\n"
+ "max_new_features: " + std::to_string(max_new_features) + "\n";
}
@@ -96,7 +96,7 @@ class ProcessorTracker : public ProcessorBase
} ProcessingStep ;
protected:
- ProcessorParamsTrackerPtr params_tracker_; ///< parameters for the tracker
+ ParamsProcessorTrackerPtr params_tracker_; ///< parameters for the tracker
ProcessingStep processing_step_; ///< State machine controlling the processing step
CaptureBasePtr origin_ptr_; ///< Pointer to the origin of the tracker.
CaptureBasePtr last_ptr_; ///< Pointer to the last tracked capture.
@@ -109,7 +109,7 @@ class ProcessorTracker : public ProcessorBase
public:
ProcessorTracker(const std::string& _type,
int _dim,
- ProcessorParamsTrackerPtr _params_tracker);
+ ParamsProcessorTrackerPtr _params_tracker);
virtual ~ProcessorTracker();
bool checkTimeTolerance(const TimeStamp& _ts1, const TimeStamp& _ts2);
diff --git a/include/core/processor/processor_tracker_feature.h b/include/core/processor/processor_tracker_feature.h
index b86e041d25e026762ea1413429b1c6e63a594fd7..54c4168e88e33e35d6c854a5053982087a2dfaec 100644
--- a/include/core/processor/processor_tracker_feature.h
+++ b/include/core/processor/processor_tracker_feature.h
@@ -18,11 +18,11 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTrackerFeature);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorTrackerFeature);
-struct ProcessorParamsTrackerFeature : public ProcessorParamsTracker
+struct ParamsProcessorTrackerFeature : public ParamsProcessorTracker
{
- using ProcessorParamsTracker::ProcessorParamsTracker;
+ using ParamsProcessorTracker::ParamsProcessorTracker;
};
WOLF_PTR_TYPEDEFS(ProcessorTrackerFeature);
@@ -86,11 +86,11 @@ class ProcessorTrackerFeature : public ProcessorTracker
*/
ProcessorTrackerFeature(const std::string& _type,
int _dim,
- ProcessorParamsTrackerFeaturePtr _params_tracker_feature);
+ ParamsProcessorTrackerFeaturePtr _params_tracker_feature);
virtual ~ProcessorTrackerFeature();
protected:
- ProcessorParamsTrackerFeaturePtr params_tracker_feature_;
+ ParamsProcessorTrackerFeaturePtr params_tracker_feature_;
TrackMatrix track_matrix_;
FeatureMatchMap matches_last_from_incoming_;
diff --git a/include/core/processor/processor_tracker_landmark.h b/include/core/processor/processor_tracker_landmark.h
index 8809426f8654803fc7012068ff9d89cd1d70ea4c..b4e7f7a41ae8bbe68d53da08288b85cda87edeab 100644
--- a/include/core/processor/processor_tracker_landmark.h
+++ b/include/core/processor/processor_tracker_landmark.h
@@ -16,11 +16,11 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTrackerLandmark);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorTrackerLandmark);
-struct ProcessorParamsTrackerLandmark : public ProcessorParamsTracker
+struct ParamsProcessorTrackerLandmark : public ParamsProcessorTracker
{
- using ProcessorParamsTracker::ProcessorParamsTracker;
+ using ParamsProcessorTracker::ParamsProcessorTracker;
//
};
@@ -81,12 +81,12 @@ class ProcessorTrackerLandmark : public ProcessorTracker
{
public:
ProcessorTrackerLandmark(const std::string& _type,
- ProcessorParamsTrackerLandmarkPtr _params_tracker_landmark);
+ ParamsProcessorTrackerLandmarkPtr _params_tracker_landmark);
virtual ~ProcessorTrackerLandmark();
protected:
- ProcessorParamsTrackerLandmarkPtr params_tracker_landmark_;
+ ParamsProcessorTrackerLandmarkPtr params_tracker_landmark_;
LandmarkBasePtrList new_landmarks_; ///< List of new detected landmarks
LandmarkMatchMap matches_landmark_from_incoming_;
LandmarkMatchMap matches_landmark_from_last_;
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 53acc960ecc87a61d28d7e1567af966d0579b375..1d5ad2ec6627fb99011dbf7841860e0f9b28e951 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -214,7 +214,7 @@ SensorBasePtr Problem::installSensor(const std::string& _sen_type, //
ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
const std::string& _unique_processor_name, //
SensorBasePtr _corresponding_sensor_ptr, //
- ProcessorParamsBasePtr _prc_params)
+ ParamsProcessorBasePtr _prc_params)
{
if (_corresponding_sensor_ptr == nullptr)
{
@@ -253,7 +253,7 @@ ProcessorBasePtr Problem::installProcessor(const std::string& _prc_type, //
else
{
assert(file_exists(_params_filename) && "Cannot install processor: parameters' YAML file does not exist.");
- ProcessorParamsBasePtr prc_params = ProcessorParamsFactory::get().create(_prc_type, _params_filename);
+ ParamsProcessorBasePtr prc_params = ParamsProcessorFactory::get().create(_prc_type, _params_filename);
return installProcessor(_prc_type, _unique_processor_name, sen_ptr, prc_params);
}
}
diff --git a/src/processor/processor_base.cpp b/src/processor/processor_base.cpp
index f61f861b021e51a08dd92db301aa1bd8de159272..0f1bf312f9b6ac5ca5aecf80b954a00271569352 100644
--- a/src/processor/processor_base.cpp
+++ b/src/processor/processor_base.cpp
@@ -7,7 +7,7 @@ namespace wolf {
unsigned int ProcessorBase::processor_id_count_ = 0;
-ProcessorBase::ProcessorBase(const std::string& _type, int _dim, ProcessorParamsBasePtr _params) :
+ProcessorBase::ProcessorBase(const std::string& _type, int _dim, ParamsProcessorBasePtr _params) :
NodeBase("PROCESSOR", _type),
processor_id_(++processor_id_count_),
params_(_params),
diff --git a/src/processor/processor_diff_drive.cpp b/src/processor/processor_diff_drive.cpp
index d80f89ccee5cddff4aab89ec3737c5b518463e7e..f8c5c8c0ab3fa62991ca4f0e0c7a4d47cc61c9e5 100644
--- a/src/processor/processor_diff_drive.cpp
+++ b/src/processor/processor_diff_drive.cpp
@@ -16,7 +16,7 @@
namespace wolf
{
-ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrivePtr _params) :
+ProcessorDiffDrive::ProcessorDiffDrive(const ParamsProcessorDiffDrivePtr _params) :
ProcessorOdom2d(_params),
params_prc_diff_drv_selfcal_(_params),
radians_per_tick_(0.0) // This param needs further initialization. See this->configure(sensor).
diff --git a/src/processor/processor_loopclosure.cpp b/src/processor/processor_loopclosure.cpp
index 3517f9e20d5bb55c40ebde25636411c5be02d9cb..9d8589a239466f2ba7bbd30473186c7dbdba52f7 100644
--- a/src/processor/processor_loopclosure.cpp
+++ b/src/processor/processor_loopclosure.cpp
@@ -11,7 +11,7 @@
namespace wolf
{
-ProcessorLoopClosure::ProcessorLoopClosure(const std::string& _type, int _dim, ProcessorParamsLoopClosurePtr _params_loop_closure):
+ProcessorLoopClosure::ProcessorLoopClosure(const std::string& _type, int _dim, ParamsProcessorLoopClosurePtr _params_loop_closure):
ProcessorBase(_type, _dim, _params_loop_closure),
params_loop_closure_(_params_loop_closure)
{
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index aded1532cc17fc6a0f2e0d48edbbca857a1ab28b..e2db67fcd9271ce4cd87652f1c33363be4c34bab 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -14,7 +14,7 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
SizeEigen _delta_cov_size,
SizeEigen _data_size,
SizeEigen _calib_size,
- ProcessorParamsMotionPtr _params_motion) :
+ ParamsProcessorMotionPtr _params_motion) :
ProcessorBase(_type, _dim, _params_motion),
params_motion_(_params_motion),
processing_step_(RUNNING_WITHOUT_PACK),
diff --git a/src/processor/processor_odom_2d.cpp b/src/processor/processor_odom_2d.cpp
index 929c1ed7ceb825fdaa265a1af592fa8125832789..12266db4b2de21aed5eaa3cdcceebacbd22e9633 100644
--- a/src/processor/processor_odom_2d.cpp
+++ b/src/processor/processor_odom_2d.cpp
@@ -5,7 +5,7 @@
namespace wolf
{
-ProcessorOdom2d::ProcessorOdom2d(ProcessorParamsOdom2dPtr _params) :
+ProcessorOdom2d::ProcessorOdom2d(ParamsProcessorOdom2dPtr _params) :
ProcessorMotion("ProcessorOdom2d", "PO", 2, 3, 3, 3, 2, 0, _params),
params_odom_2d_(_params)
{
diff --git a/src/processor/processor_odom_3d.cpp b/src/processor/processor_odom_3d.cpp
index 3e1268eb1d705b3a335d9c8d9389e0c9449ebba1..cca930aec5cf2fa924a1c119ec2111c8fa338aed 100644
--- a/src/processor/processor_odom_3d.cpp
+++ b/src/processor/processor_odom_3d.cpp
@@ -2,7 +2,7 @@
namespace wolf
{
-ProcessorOdom3d::ProcessorOdom3d(ProcessorParamsOdom3dPtr _params) :
+ProcessorOdom3d::ProcessorOdom3d(ParamsProcessorOdom3dPtr _params) :
ProcessorMotion("ProcessorOdom3d", "PO", 3, 7, 7, 6, 6, 0, _params),
params_odom_3d_ (_params),
k_disp_to_disp_ (0),
diff --git a/src/processor/processor_tracker.cpp b/src/processor/processor_tracker.cpp
index 56d5ae4ae45ed40962274292328076087da7fb9f..97f3f6c0b0b7f6a14afdffbe2cb460ce4c94fbdc 100644
--- a/src/processor/processor_tracker.cpp
+++ b/src/processor/processor_tracker.cpp
@@ -16,7 +16,7 @@ namespace wolf
ProcessorTracker::ProcessorTracker(const std::string& _type,
int _dim,
- ProcessorParamsTrackerPtr _params_tracker) :
+ ParamsProcessorTrackerPtr _params_tracker) :
ProcessorBase(_type, _dim, _params_tracker),
params_tracker_(_params_tracker),
processing_step_(FIRST_TIME_WITHOUT_PACK),
diff --git a/src/processor/processor_tracker_feature.cpp b/src/processor/processor_tracker_feature.cpp
index 211a1aba12b12ecfb10afea00041cf82e07493be..a0f48d7c771527402b7adffd688e837c0cef7e3f 100644
--- a/src/processor/processor_tracker_feature.cpp
+++ b/src/processor/processor_tracker_feature.cpp
@@ -12,7 +12,7 @@ namespace wolf
ProcessorTrackerFeature::ProcessorTrackerFeature(const std::string& _type,
int _dim,
- ProcessorParamsTrackerFeaturePtr _params_tracker_feature) :
+ ParamsProcessorTrackerFeaturePtr _params_tracker_feature) :
ProcessorTracker(_type, _dim, _params_tracker_feature),
params_tracker_feature_(_params_tracker_feature)
{
diff --git a/src/processor/processor_tracker_landmark.cpp b/src/processor/processor_tracker_landmark.cpp
index 7035dd38de2fcfb177deef2f4ed30d28fcdd92cf..f6425f4048c0830bc05bfb1d1dc5ac18f9210dec 100644
--- a/src/processor/processor_tracker_landmark.cpp
+++ b/src/processor/processor_tracker_landmark.cpp
@@ -14,7 +14,7 @@ namespace wolf
{
ProcessorTrackerLandmark::ProcessorTrackerLandmark(const std::string& _type,
- ProcessorParamsTrackerLandmarkPtr _params_tracker_landmark) :
+ ParamsProcessorTrackerLandmarkPtr _params_tracker_landmark) :
ProcessorTracker(_type, 0, _params_tracker_landmark),
params_tracker_landmark_(_params_tracker_landmark)
{
diff --git a/src/yaml/processor_odom_3d_yaml.cpp b/src/yaml/processor_odom_3d_yaml.cpp
index 1047ba5fd2482ab1f89c5a7256eb54b86f6181d6..bd05bf3300e9598e6059d39ffa75a5cf228adf26 100644
--- a/src/yaml/processor_odom_3d_yaml.cpp
+++ b/src/yaml/processor_odom_3d_yaml.cpp
@@ -20,13 +20,13 @@ namespace wolf
namespace
{
-static ProcessorParamsBasePtr createProcessorOdom3dParams(const std::string & _filename_dot_yaml)
+static ParamsProcessorBasePtr createProcessorOdom3dParams(const std::string & _filename_dot_yaml)
{
YAML::Node config = YAML::LoadFile(_filename_dot_yaml);
if (config["type"].as<std::string>() == "ProcessorOdom3d")
{
- ProcessorParamsOdom3dPtr params = std::make_shared<ProcessorParamsOdom3d>();
+ ParamsProcessorOdom3dPtr params = std::make_shared<ParamsProcessorOdom3d>();
params->time_tolerance = config["time_tolerance"] .as<double>();
params->unmeasured_perturbation_std = config["unmeasured_perturbation_std"] .as<double>();
@@ -48,7 +48,7 @@ static ProcessorParamsBasePtr createProcessorOdom3dParams(const std::string & _f
}
// Register in the SensorFactory
-const bool WOLF_UNUSED registered_prc_odom_3d = ProcessorParamsFactory::get().registerCreator("ProcessorOdom3d", createProcessorOdom3dParams);
+const bool WOLF_UNUSED registered_prc_odom_3d = ParamsProcessorFactory::get().registerCreator("ProcessorOdom3d", createProcessorOdom3dParams);
} // namespace [unnamed]
diff --git a/test/dummy/processor_tracker_feature_dummy.cpp b/test/dummy/processor_tracker_feature_dummy.cpp
index 3a30e98af0e409fb0fc8604231d7bee16a0630e6..4c7636e1b963fc44be6f7b26a45623f0653e0bb8 100644
--- a/test/dummy/processor_tracker_feature_dummy.cpp
+++ b/test/dummy/processor_tracker_feature_dummy.cpp
@@ -93,13 +93,13 @@ FactorBasePtr ProcessorTrackerFeatureDummy::emplaceFactor(FeatureBasePtr _featur
}
ProcessorBasePtr ProcessorTrackerFeatureDummy::create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params)
+ const ParamsProcessorBasePtr _params)
{
- auto params = std::static_pointer_cast<ProcessorParamsTrackerFeatureDummy>(_params);
+ auto params = std::static_pointer_cast<ParamsProcessorTrackerFeatureDummy>(_params);
// if cast failed use default value
if (params == nullptr)
- params = std::make_shared<ProcessorParamsTrackerFeatureDummy>();
+ params = std::make_shared<ParamsProcessorTrackerFeatureDummy>();
auto prc_ptr = std::make_shared<ProcessorTrackerFeatureDummy>(params);
diff --git a/test/dummy/processor_tracker_feature_dummy.h b/test/dummy/processor_tracker_feature_dummy.h
index 3328edf08c0234d6b587680b9b215bc91a7ae43f..4b42d372942b276ae1784486fe823ff5234f26e1 100644
--- a/test/dummy/processor_tracker_feature_dummy.h
+++ b/test/dummy/processor_tracker_feature_dummy.h
@@ -15,15 +15,15 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTrackerFeatureDummy);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorTrackerFeatureDummy);
-struct ProcessorParamsTrackerFeatureDummy : public ProcessorParamsTrackerFeature
+struct ParamsProcessorTrackerFeatureDummy : public ParamsProcessorTrackerFeature
{
unsigned int n_tracks_lost; ///< number of tracks lost each time track is called (the first ones)
- ProcessorParamsTrackerFeatureDummy() = default;
- ProcessorParamsTrackerFeatureDummy(std::string _unique_name, const wolf::ParamsServer & _server):
- ProcessorParamsTrackerFeature(_unique_name, _server)
+ ParamsProcessorTrackerFeatureDummy() = default;
+ ParamsProcessorTrackerFeatureDummy(std::string _unique_name, const wolf::ParamsServer & _server):
+ ParamsProcessorTrackerFeature(_unique_name, _server)
{
n_tracks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_tracks_lost");
}
@@ -37,13 +37,13 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
{
public:
- ProcessorTrackerFeatureDummy(ProcessorParamsTrackerFeatureDummyPtr _params_tracker_feature);
+ ProcessorTrackerFeatureDummy(ParamsProcessorTrackerFeatureDummyPtr _params_tracker_feature);
virtual ~ProcessorTrackerFeatureDummy();
virtual void configure(SensorBasePtr _sensor) { };
protected:
- ProcessorParamsTrackerFeatureDummyPtr params_tracker_feature_dummy_;
+ ParamsProcessorTrackerFeatureDummyPtr params_tracker_feature_dummy_;
/** \brief Track provided features in \b _capture
* \param _features_in input list of features in \b last to track
@@ -105,11 +105,11 @@ class ProcessorTrackerFeatureDummy : public ProcessorTrackerFeature
public:
static ProcessorBasePtr create(const std::string& _unique_name,
- const ProcessorParamsBasePtr _params);
+ const ParamsProcessorBasePtr _params);
};
-inline ProcessorTrackerFeatureDummy::ProcessorTrackerFeatureDummy(ProcessorParamsTrackerFeatureDummyPtr _params_tracker_feature_dummy) :
+inline ProcessorTrackerFeatureDummy::ProcessorTrackerFeatureDummy(ParamsProcessorTrackerFeatureDummyPtr _params_tracker_feature_dummy) :
ProcessorTrackerFeature("ProcessorTrackerFeatureDummy", 0, _params_tracker_feature_dummy),
params_tracker_feature_dummy_(_params_tracker_feature_dummy)
{
diff --git a/test/dummy/processor_tracker_landmark_dummy.cpp b/test/dummy/processor_tracker_landmark_dummy.cpp
index 72fc32f9baa1ce71216e6457d63185e057bcdc40..58519f3d085d67233378ebc813569f933a338d5f 100644
--- a/test/dummy/processor_tracker_landmark_dummy.cpp
+++ b/test/dummy/processor_tracker_landmark_dummy.cpp
@@ -12,7 +12,7 @@
namespace wolf
{
-ProcessorTrackerLandmarkDummy::ProcessorTrackerLandmarkDummy(ProcessorParamsTrackerLandmarkDummyPtr _params_tracker_landmark_dummy) :
+ProcessorTrackerLandmarkDummy::ProcessorTrackerLandmarkDummy(ParamsProcessorTrackerLandmarkDummyPtr _params_tracker_landmark_dummy) :
ProcessorTrackerLandmark("ProcessorTrackerLandmarkDummy", _params_tracker_landmark_dummy),
params_tracker_landmark_dummy_(_params_tracker_landmark_dummy)
{
diff --git a/test/dummy/processor_tracker_landmark_dummy.h b/test/dummy/processor_tracker_landmark_dummy.h
index a9531c8db7a0372636c1d0cb605c21c38aec8446..fa9c11dcffd6e7d78e1bc7e4e0cc988ce827f1fe 100644
--- a/test/dummy/processor_tracker_landmark_dummy.h
+++ b/test/dummy/processor_tracker_landmark_dummy.h
@@ -13,15 +13,15 @@
namespace wolf
{
-WOLF_STRUCT_PTR_TYPEDEFS(ProcessorParamsTrackerLandmarkDummy);
+WOLF_STRUCT_PTR_TYPEDEFS(ParamsProcessorTrackerLandmarkDummy);
-struct ProcessorParamsTrackerLandmarkDummy : public ProcessorParamsTrackerLandmark
+struct ParamsProcessorTrackerLandmarkDummy : public ParamsProcessorTrackerLandmark
{
unsigned int n_landmarks_lost; ///< number of landmarks lost each time findLandmarks is called (the last ones)
- ProcessorParamsTrackerLandmarkDummy() = default;
- ProcessorParamsTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
- ProcessorParamsTrackerLandmark(_unique_name, _server)
+ ParamsProcessorTrackerLandmarkDummy() = default;
+ ParamsProcessorTrackerLandmarkDummy(std::string _unique_name, const wolf::ParamsServer & _server):
+ ParamsProcessorTrackerLandmark(_unique_name, _server)
{
n_landmarks_lost = _server.getParam<unsigned int>(prefix + _unique_name + "/n_landmarks_lost");
}
@@ -32,13 +32,13 @@ WOLF_PTR_TYPEDEFS(ProcessorTrackerLandmarkDummy);
class ProcessorTrackerLandmarkDummy : public ProcessorTrackerLandmark
{
public:
- ProcessorTrackerLandmarkDummy(ProcessorParamsTrackerLandmarkDummyPtr _params_tracker_landmark_dummy);
+ ProcessorTrackerLandmarkDummy(ParamsProcessorTrackerLandmarkDummyPtr _params_tracker_landmark_dummy);
virtual ~ProcessorTrackerLandmarkDummy();
virtual void configure(SensorBasePtr _sensor) { };
protected:
- ProcessorParamsTrackerLandmarkDummyPtr params_tracker_landmark_dummy_;
+ ParamsProcessorTrackerLandmarkDummyPtr params_tracker_landmark_dummy_;
/** \brief Find provided landmarks as features in the provided capture
* \param _landmarks_in input list of landmarks to be found
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index e60531daf9ab855e03b074384452d8e61c78d52a..457d41fe43f1adb01345065130f416f8ec785185 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -51,13 +51,13 @@ TEST(Emplace, Processor)
ProblemPtr P = Problem::create("PO", 2);
auto sen = SensorBase::emplace<SensorBase>(P->getHardware(), "Dummy", nullptr, nullptr, nullptr, 2, false);
- auto prc = ProcessorOdom2d::emplace<ProcessorOdom2d>(sen, std::make_shared<ProcessorParamsOdom2d>());
+ auto prc = ProcessorOdom2d::emplace<ProcessorOdom2d>(sen, std::make_shared<ParamsProcessorOdom2d>());
ASSERT_EQ(P, P->getHardware()->getSensorList().front()->getProcessorList().front()->getSensor()->getProblem());
ASSERT_EQ(sen, sen->getProcessorList().front()->getSensor());
ASSERT_EQ(prc, sen->getProcessorList().front());
SensorBasePtr sen2 = SensorBase::emplace<SensorBase>(P->getHardware(), "Dummy", nullptr, nullptr, nullptr, 2, false);
- ProcessorOdom2dPtr prc2 = ProcessorOdom2d::emplace<ProcessorOdom2d>(sen2, std::make_shared<ProcessorParamsOdom2d>());
+ ProcessorOdom2dPtr prc2 = ProcessorOdom2d::emplace<ProcessorOdom2d>(sen2, std::make_shared<ParamsProcessorOdom2d>());
ASSERT_EQ(sen2, sen2->getProcessorList().front()->getSensor());
ASSERT_EQ(prc2, sen2->getProcessorList().front());
}
diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index 67ef0974061dfa88339bbf3be362794ec6af060d..b10279093851116c81d1b1bd8c608e79fa8cbf25 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -25,7 +25,7 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
{
using Base = ProcessorDiffDrive;
public:
- ProcessorDiffDrivePublic(ProcessorParamsDiffDrivePtr _params_motion) :
+ ProcessorDiffDrivePublic(ParamsProcessorDiffDrivePtr _params_motion) :
ProcessorDiffDrive(_params_motion)
{
//
@@ -99,7 +99,7 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
return Base::emplaceFactor(_feature_motion, _capture_origin);
}
- ProcessorParamsDiffDrivePtr getParams()
+ ParamsProcessorDiffDrivePtr getParams()
{
return params_prc_diff_drv_selfcal_;
}
@@ -121,7 +121,7 @@ class FactorDiffDriveTest : public testing::Test
TrajectoryBasePtr trajectory;
ParamsSensorDiffDrivePtr intr;
SensorDiffDrivePtr sensor;
- ProcessorParamsDiffDrivePtr params;
+ ParamsProcessorDiffDrivePtr params;
ProcessorDiffDrivePublicPtr processor;
FrameBasePtr F0, F1;
CaptureMotionPtr C0, C1;
@@ -154,7 +154,7 @@ class FactorDiffDriveTest : public testing::Test
calib = sensor->getIntrinsic()->getState();
// params and processor
- params = std::make_shared<ProcessorParamsDiffDrive>();
+ params = std::make_shared<ParamsProcessorDiffDrive>();
params->angle_turned = 1;
params->dist_traveled = 2;
params->max_buff_length = 3;
@@ -432,7 +432,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
Vector3d calib_gt(1,1,1);
// params and processor
- ProcessorParamsDiffDrivePtr params = std::make_shared<ProcessorParamsDiffDrive>();
+ ParamsProcessorDiffDrivePtr params = std::make_shared<ParamsProcessorDiffDrive>();
params->angle_turned = 99;
params->dist_traveled = 99;
params->max_buff_length = 99;
@@ -564,7 +564,7 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics)
Vector3d calib_gt(1.0, 1.0, 1.0); // ground truth calib
// params and processor
- ProcessorParamsDiffDrivePtr params = std::make_shared<ProcessorParamsDiffDrive>();
+ ParamsProcessorDiffDrivePtr params = std::make_shared<ParamsProcessorDiffDrive>();
params->angle_turned = 99;
params->dist_traveled = 99;
params->max_buff_length = 99;
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 77fa1ace2c4bf876b0c318fe79dc476688e92af0..90ba45c62add57f2f5d222579810d39f69b0cf6b 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -72,7 +72,7 @@ TEST(FrameBase, LinksToTree)
auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
auto F2 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
auto C = CaptureBase::emplace<CaptureMotion>(F1, "CaptureMotion", 1, S, Vector3d::Zero(), 3, 3, nullptr);
- auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ProcessorParamsOdom2d>());
+ auto p = ProcessorBase::emplace<ProcessorOdom2d>(S, std::make_shared<ParamsProcessorOdom2d>());
auto f = FeatureBase::emplace<FeatureBase>(C, "f", Vector1d(1), Matrix<double,1,1>::Identity()*.01);
auto c = FactorBase::emplace<FactorOdom2d>(f, f, F2, p, false);
diff --git a/test/gtest_odom_2d.cpp b/test/gtest_odom_2d.cpp
index 1176783c855954afba8bf5e0a7566fb37ecbc8b5..0c61b6d75634426e3b1a487bd6339c30be270a55 100644
--- a/test/gtest_odom_2d.cpp
+++ b/test/gtest_odom_2d.cpp
@@ -197,7 +197,7 @@ TEST(Odom2d, VoteForKfAndSolve)
// Create Wolf tree nodes
ProblemPtr problem = Problem::create("PO", 2);
SensorBasePtr sensor_odom2d = problem->installSensor("SensorOdom2d", "odom", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
- ProcessorParamsOdom2dPtr params(std::make_shared<ProcessorParamsOdom2d>());
+ ParamsProcessorOdom2dPtr params(std::make_shared<ParamsProcessorOdom2d>());
params->voting_active = true;
params->dist_traveled = 100;
params->angle_turned = 6.28;
@@ -337,7 +337,7 @@ TEST(Odom2d, KF_callback)
// Create Wolf tree nodes
ProblemPtr problem = Problem::create("PO", 2);
SensorBasePtr sensor_odom2d = problem->installSensor("SensorOdom2d", "odom", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
- ProcessorParamsOdom2dPtr params(std::make_shared<ProcessorParamsOdom2d>());
+ ParamsProcessorOdom2dPtr params(std::make_shared<ParamsProcessorOdom2d>());
params->dist_traveled = 100;
params->angle_turned = 6.28;
params->max_time_span = 100;
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index 6d262ba06b81438499b29ab3d45fd4bb101c89db..01c361d8c991c17af61c1079fea195f39b0b7212 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -104,7 +104,7 @@ TEST(Problem, Processor)
auto Sm = SensorBase::emplace<SensorOdom3d>(P->getHardware(), (Eigen::Vector7d()<<0,0,0, 0,0,0,1).finished(), ParamsSensorOdom3d());
// add motion processor
- auto Pm = ProcessorBase::emplace<ProcessorOdom3d>(Sm, std::make_shared<ProcessorParamsOdom3d>());
+ auto Pm = ProcessorBase::emplace<ProcessorOdom3d>(Sm, std::make_shared<ParamsProcessorOdom3d>());
// check motion processor IS NOT by emplace
ASSERT_EQ(P->getProcessorIsMotion(), Pm);
@@ -300,7 +300,7 @@ TEST(Problem, Covariances)
// SensorBasePtr St = P->installSensor ("SensorOdom2d", "other odometer", xs2d, wolf_root + "/test/yaml/sensor_odom_2d.yaml");
SensorBasePtr St = P->installSensor ("SensorOdom3d", "other odometer", xs3d, wolf_root + "/test/yaml/sensor_odom_3d.yaml");
- ProcessorParamsTrackerFeaturePtr params = std::make_shared<ProcessorParamsTrackerFeature>();
+ ParamsProcessorTrackerFeaturePtr params = std::make_shared<ParamsProcessorTrackerFeature>();
params->time_tolerance = 0.1;
params->max_new_features = 5;
params->min_features_for_keyframe = 10;
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index c4a1c4b0470c92bf09df1a950a1c19e57d35642d..a9a178e093dc21ea6da2d3785a24c3ad6878d6e4 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -57,7 +57,7 @@ TEST(ProcessorBase, IsMotion)
// Install odometer (sensor and processor)
SensorBasePtr sens_odo = problem->installSensor("SensorOdom2d", "odometer", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
- ProcessorParamsOdom2dPtr proc_odo_params = make_shared<ProcessorParamsOdom2d>();
+ ParamsProcessorOdom2dPtr proc_odo_params = make_shared<ParamsProcessorOdom2d>();
proc_odo_params->time_tolerance = dt/2;
ProcessorBasePtr proc_odo = problem->installProcessor("ProcessorOdom2d", "odom processor", sens_odo, proc_odo_params);
@@ -92,7 +92,7 @@ TEST(ProcessorBase, KeyFrameCallback)
// Install odometer (sensor and processor)
SensorBasePtr sens_odo = problem->installSensor("SensorOdom2d", "odometer", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml");
- ProcessorParamsOdom2dPtr proc_odo_params = make_shared<ProcessorParamsOdom2d>();
+ ParamsProcessorOdom2dPtr proc_odo_params = make_shared<ParamsProcessorOdom2d>();
proc_odo_params->time_tolerance = dt/2;
ProcessorBasePtr proc_odo = problem->installProcessor("ProcessorOdom2d", "odom processor", sens_odo, proc_odo_params);
diff --git a/test/gtest_processor_diff_drive.cpp b/test/gtest_processor_diff_drive.cpp
index 612f66019cd62b892a300df15da4a809b0d51e9a..c88628d779ef9b5836c3d5e2e7a061012c23d0a8 100644
--- a/test/gtest_processor_diff_drive.cpp
+++ b/test/gtest_processor_diff_drive.cpp
@@ -20,7 +20,7 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
{
using Base = ProcessorDiffDrive;
public:
- ProcessorDiffDrivePublic(ProcessorParamsDiffDrivePtr _params_motion) :
+ ProcessorDiffDrivePublic(ParamsProcessorDiffDrivePtr _params_motion) :
ProcessorDiffDrive(_params_motion)
{
//
@@ -94,7 +94,7 @@ class ProcessorDiffDrivePublic : public ProcessorDiffDrive
return Base::emplaceFactor(_feature_motion, _capture_origin);
}
- ProcessorParamsDiffDrivePtr getParams()
+ ParamsProcessorDiffDrivePtr getParams()
{
return params_prc_diff_drv_selfcal_;
}
@@ -111,7 +111,7 @@ class ProcessorDiffDriveTest : public testing::Test
public:
ParamsSensorDiffDrivePtr intr;
SensorDiffDrivePtr sensor;
- ProcessorParamsDiffDrivePtr params;
+ ParamsProcessorDiffDrivePtr params;
ProcessorDiffDrivePublicPtr processor;
ProblemPtr problem;
@@ -129,7 +129,7 @@ class ProcessorDiffDriveTest : public testing::Test
sensor = std::static_pointer_cast<SensorDiffDrive>(problem->installSensor("SensorDiffDrive", "sensor diff drive", extr, intr));
// params and processor
- params = std::make_shared<ProcessorParamsDiffDrive>();
+ params = std::make_shared<ParamsProcessorDiffDrive>();
params->voting_active = true;
params->angle_turned = 1;
params->dist_traveled = 2;
@@ -145,7 +145,7 @@ class ProcessorDiffDriveTest : public testing::Test
TEST(ProcessorDiffDrive, constructor)
{
- auto params = std::make_shared<ProcessorParamsDiffDrive>();
+ auto params = std::make_shared<ParamsProcessorDiffDrive>();
ASSERT_NE(params, nullptr);
@@ -164,7 +164,7 @@ TEST(ProcessorDiffDrive, create)
auto sen = std::make_shared<SensorDiffDrive>(extr, intr);
// params
- auto params = std::make_shared<ProcessorParamsDiffDrive>();
+ auto params = std::make_shared<ParamsProcessorDiffDrive>();
// processor
auto prc_base = ProcessorDiffDrive::create("prc", params);
diff --git a/test/gtest_processor_loopclosure.cpp b/test/gtest_processor_loopclosure.cpp
index d00fb93407ab75bb150a576bc434640f1c75fe12..6b141dfb11370611da1c60c7be539c0deb8d8c47 100644
--- a/test/gtest_processor_loopclosure.cpp
+++ b/test/gtest_processor_loopclosure.cpp
@@ -23,7 +23,7 @@ private:
bool* factor_created;
public:
- ProcessorLoopClosureDummy(ProcessorParamsLoopClosurePtr _params_loop_closure, bool& factor_created):
+ ProcessorLoopClosureDummy(ParamsProcessorLoopClosurePtr _params_loop_closure, bool& factor_created):
ProcessorLoopClosure("LOOP CLOSURE DUMMY", 0, _params_loop_closure),
factor_created(&factor_created){};
std::pair<FrameBasePtr,CaptureBasePtr> public_selectPairKC(){ return selectPairKC();};
@@ -71,7 +71,7 @@ TEST(ProcessorLoopClosure, installProcessor)
std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)),
std::make_shared<StateBlock>(Eigen::VectorXd::Zero(1)),
std::make_shared<StateBlock>(Eigen::VectorXd::Zero(2)), 2);
- ProcessorParamsLoopClosurePtr params = std::make_shared<ProcessorParamsLoopClosure>();
+ ParamsProcessorLoopClosurePtr params = std::make_shared<ParamsProcessorLoopClosure>();
auto proc_lc = ProcessorBase::emplace<ProcessorLoopClosureDummy>(sens_lc, params, factor_created);
std::cout << "sensor & processor created and added to wolf problem" << std::endl;
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 076118ba3d7836dbf61cdb2ed1d38d81d46b9084..19febcc6fa8b869b3685b59ca7aeba1e2d6ecf31 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -21,7 +21,7 @@ using std::static_pointer_cast;
class ProcessorOdom2dPublic : public ProcessorOdom2d
{
public:
- ProcessorOdom2dPublic(ProcessorParamsOdom2dPtr params) : ProcessorOdom2d(params)
+ ProcessorOdom2dPublic(ParamsProcessorOdom2dPtr params) : ProcessorOdom2d(params)
{
//
}
@@ -52,7 +52,7 @@ class ProcessorMotion_test : public testing::Test{
Matrix2d data_cov;
// ProcessorMotion_test() :
-// ProcessorOdom2d(std::make_shared<ProcessorParamsOdom2d>()),
+// ProcessorOdom2d(std::make_shared<ParamsProcessorOdom2d>()),
// dt(0)
// { }
@@ -63,7 +63,7 @@ class ProcessorMotion_test : public testing::Test{
dt = 1.0;
problem = Problem::create("PO", 2);
sensor = static_pointer_cast<SensorOdom2d>(problem->installSensor("SensorOdom2d", "odom", Vector3d(0,0,0), wolf_root + "/test/yaml/sensor_odom_2d.yaml"));
- ProcessorParamsOdom2dPtr params(std::make_shared<ProcessorParamsOdom2d>());
+ ParamsProcessorOdom2dPtr params(std::make_shared<ParamsProcessorOdom2d>());
params->time_tolerance = 0.25;
params->dist_traveled = 100;
params->angle_turned = 6.28;
diff --git a/test/gtest_processor_odom_3d.cpp b/test/gtest_processor_odom_3d.cpp
index 24e5e875ea0b5775747c7325239884a586f0a0c4..4a94d3e1b88d1afc89ef80a39b9fad1baa67a1f7 100644
--- a/test/gtest_processor_odom_3d.cpp
+++ b/test/gtest_processor_odom_3d.cpp
@@ -52,7 +52,7 @@ class ProcessorOdom3dTest : public ProcessorOdom3d
double& dvar_min() {return min_disp_var_;}
double& rvar_min() {return min_rot_var_;}
};
-ProcessorOdom3dTest::ProcessorOdom3dTest() : ProcessorOdom3d(std::make_shared<ProcessorParamsOdom3d>())
+ProcessorOdom3dTest::ProcessorOdom3dTest() : ProcessorOdom3d(std::make_shared<ParamsProcessorOdom3d>())
{
dvar_min() = 0.5;
rvar_min() = 0.25;
diff --git a/test/gtest_processor_tracker_feature_dummy.cpp b/test/gtest_processor_tracker_feature_dummy.cpp
index c8bf458bbcdc5058862accd76beedcb13b1d011f..db3d2195490675d5eb00162b9ee48019eb3b8469 100644
--- a/test/gtest_processor_tracker_feature_dummy.cpp
+++ b/test/gtest_processor_tracker_feature_dummy.cpp
@@ -15,7 +15,7 @@ class ProcessorTrackerFeatureDummyDummy : public ProcessorTrackerFeatureDummy
{
public:
- ProcessorTrackerFeatureDummyDummy(ProcessorParamsTrackerFeatureDummyPtr& _params) :
+ ProcessorTrackerFeatureDummyDummy(ParamsProcessorTrackerFeatureDummyPtr& _params) :
ProcessorTrackerFeatureDummy(_params){}
void setLast(CaptureBasePtr _last_ptr){ last_ptr_ = _last_ptr; }
@@ -71,7 +71,7 @@ class ProcessorTrackerFeatureDummyTest : public testing::Test
public:
ProblemPtr problem;
SensorBasePtr sensor;
- ProcessorParamsTrackerFeatureDummyPtr params;
+ ParamsProcessorTrackerFeatureDummyPtr params;
ProcessorTrackerFeatureDummyDummyPtr processor;
virtual ~ProcessorTrackerFeatureDummyTest(){}
@@ -85,7 +85,7 @@ class ProcessorTrackerFeatureDummyTest : public testing::Test
sensor = problem->installSensor("SensorOdom2d", "auxiliar sensor", (Eigen::Vector3d() << 0,0,0).finished(), std::make_shared<ParamsSensorBase>());
// Install processor
- params = std::make_shared<ProcessorParamsTrackerFeatureDummy>();
+ params = std::make_shared<ParamsProcessorTrackerFeatureDummy>();
params->max_new_features = 10;
params->min_features_for_keyframe = 7;
params->time_tolerance = 0.25;
diff --git a/test/gtest_processor_tracker_landmark_dummy.cpp b/test/gtest_processor_tracker_landmark_dummy.cpp
index a75ba7ffb962509468343f66e894a1b527610c04..3eb37a026f4d9b147a0adde53bffdcee40bf8139 100644
--- a/test/gtest_processor_tracker_landmark_dummy.cpp
+++ b/test/gtest_processor_tracker_landmark_dummy.cpp
@@ -15,7 +15,7 @@ class ProcessorTrackerLandmarkDummyDummy : public ProcessorTrackerLandmarkDummy
{
public:
- ProcessorTrackerLandmarkDummyDummy(ProcessorParamsTrackerLandmarkDummyPtr& _params) :
+ ProcessorTrackerLandmarkDummyDummy(ParamsProcessorTrackerLandmarkDummyPtr& _params) :
ProcessorTrackerLandmarkDummy(_params){}
void setLast(CaptureBasePtr _last_ptr){ last_ptr_ = _last_ptr; }
@@ -89,7 +89,7 @@ class ProcessorTrackerLandmarkDummyTest : public testing::Test
public:
ProblemPtr problem;
SensorBasePtr sensor;
- ProcessorParamsTrackerLandmarkDummyPtr params;
+ ParamsProcessorTrackerLandmarkDummyPtr params;
ProcessorTrackerLandmarkDummyDummyPtr processor;
virtual ~ProcessorTrackerLandmarkDummyTest(){}
@@ -103,7 +103,7 @@ class ProcessorTrackerLandmarkDummyTest : public testing::Test
sensor = problem->installSensor("SensorOdom2d", "auxiliar sensor", (Eigen::Vector3d() << 0,0,0).finished(), std::make_shared<ParamsSensorBase>());
// Install processor
- params = std::make_shared<ProcessorParamsTrackerLandmarkDummy>();
+ params = std::make_shared<ParamsProcessorTrackerLandmarkDummy>();
params->max_new_features = 10;
params->min_features_for_keyframe = 7;
params->time_tolerance = 0.25;