Initialize node types more consistently

src/frame_base.cpp

@@ -12,7 +12,7 @@ namespace wolf {
 unsigned int FrameBase::frame_id_count_ = 0;
 
 FrameBase::FrameBase(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _v_ptr) :
-            NodeBase("FRAME", "BASE"),
+            NodeBase("FRAME", "Base"),
             trajectory_ptr_(),
             state_block_vec_(3), // allow for 6 state blocks by default. Resize in derived constructors if needed.
             is_removing_(false),
@@ -31,7 +31,7 @@ FrameBase::FrameBase(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _
 }
 
 FrameBase::FrameBase(const FrameType & _tp, const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _o_ptr, StateBlockPtr _v_ptr) :
-            NodeBase("FRAME", "BASE"),
+            NodeBase("FRAME", "Base"),
             trajectory_ptr_(),
             state_block_vec_(3), // allow for 3 state blocks by default. Resize in derived constructors if needed.
             is_removing_(false),

src/hardware_base.cpp

@@ -5,7 +5,7 @@
 namespace wolf {
 
 HardwareBase::HardwareBase() :
-        NodeBase("HARDWARE")
+        NodeBase("HARDWARE", "Base")
 {
 //    std::cout << "constructed H" << std::endl;
 }

src/map_base.cpp

@@ -19,7 +19,7 @@
 namespace wolf {
 
 MapBase::MapBase() :
-    NodeBase("MAP")
+    NodeBase("MAP", "Base")
 {
 //    std::cout << "constructed M"<< std::endl;
 }

src/processor_base.cpp

@@ -8,14 +8,12 @@ namespace wolf {
 unsigned int ProcessorBase::processor_id_count_ = 0;
 
 ProcessorBase::ProcessorBase(const std::string& _type, const Scalar& _time_tolerance) :
-        NodeBase("PROCESSOR"),
+        NodeBase("PROCESSOR", _type),
         sensor_ptr_(),
         is_removing_(false),
         processor_id_(++processor_id_count_),
         time_tolerance_(_time_tolerance)
 {
-    setType(_type);
-
 //    WOLF_DEBUG("constructed    +p" , id());
 }
 

src/trajectory_base.cpp

@@ -5,7 +5,7 @@
 namespace wolf {
 
 TrajectoryBase::TrajectoryBase(const std::string& _frame_structure) :
-    NodeBase("TRAJECTORY"),
+    NodeBase("TRAJECTORY", "Base"),
     frame_structure_(_frame_structure),
     last_key_frame_ptr_(nullptr)
 {