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.gitlab-ci.yml
View file @ 92d070d2
stages:
- license
- build_and_test
- deploy
- final
############ YAML ANCHORS ############
.preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker.
## (change apt-get to yum if you use an RPM-based image)
- 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
## Run ssh-agent (inside the build environment)
- eval $(ssh-agent -s)
## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
## We're using tr to fix line endings which makes ed25519 keys work
## without extra base64 encoding.
## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
# - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
- ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
# update apt
- apt-get update
.license_header_template: &license_header_definition
- cd $CI_PROJECT_DIR
# configure git
- export CI_NEW_BRANCH=ci_processing$RANDOM
- echo creating new temporary branch... $CI_NEW_BRANCH
- git config --global user.email "${CI_EMAIL}"
- git config --global user.name "${CI_USERNAME}"
- git checkout -b $CI_NEW_BRANCH # temporary branch
# license headers
- export CURRENT_YEAR=$( date +'%Y' )
- echo "current year:" ${CURRENT_YEAR}
- cd wolf_scripts
- if [ -f license_header_${CURRENT_YEAR}.txt ]; then
# add license headers to new files
- echo "File license_header_${CURRENT_YEAR}.txt already exists. License headers are assumed to be updated. Adding headers to new files..."
- ./license_manager.sh --add --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
- else
# update license headers of all files
- export PREV_YEAR=$(( CURRENT_YEAR-1 ))
- echo "Creating new file license_header_${CURRENT_YEAR}.txt..."
- git mv license_header_${PREV_YEAR}.txt license_header_${CURRENT_YEAR}.txt
- sed -i "s/${PREV_YEAR}/${PREV_YEAR},${CURRENT_YEAR}/g" license_header_${CURRENT_YEAR}.txt
- ./license_manager.sh --update --path=${CI_PROJECT_DIR} --license-header=license_header_${CURRENT_YEAR}.txt
- fi
- cd ..
# push changes (if any)
- if git commit -a -m "[skip ci] license headers added or modified" ; then
- git remote set-url --push origin "ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git"
- git push origin $CI_NEW_BRANCH:${CI_COMMIT_REF_NAME}
- else
- echo "No changes, nothing to commit!"
- fi
.build_and_test_template: &build_and_test_definition
- cd $CI_PROJECT_DIR
- mkdir -pv build
- cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
- make -j$WOLF_N_PROC
- ctest -j$WOLF_N_PROC
- make -j$(nproc)
- ctest -j$(nproc)
# run demos
- ../bin/hello_wolf
- ../bin/hello_wolf_autoconf
- make install
stages:
- build_and_test
- deploy
############ LICENSE HEADERS ############
license_header:
stage: license
image: labrobotica/wolf_deps:16.04
before_script:
- *preliminaries_definition
script:
- *license_header_definition
############ UBUNTU 16.04 TESTS ############
build_and_test:xenial:
stage: build_and_test
image: labrobotica/wolf_deps:16.04
......@@ -21,6 +92,7 @@ build_and_test:xenial:
script:
- *build_and_test_definition
############ UBUNTU 18.04 TESTS ############
build_and_test:bionic:
stage: build_and_test
image: labrobotica/wolf_deps:18.04
......@@ -29,6 +101,16 @@ build_and_test:bionic:
script:
- *build_and_test_definition
############ UBUNTU 20.04 TESTS ############
build_and_test:focal:
stage: build_and_test
image: labrobotica/wolf_deps:20.04
except:
- master
script:
- *build_and_test_definition
############ DEPLOY PLUGINS ############
deploy_imu:
stage: deploy
variables:
......@@ -75,4 +157,10 @@ deploy_bodydynamics:
WOLF_CORE_BRANCH: $CI_COMMIT_BRANCH
trigger:
project: mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics
strategy: depend
\ No newline at end of file
strategy: depend
############ WAIT FOR PLUGINS ############
final_all:
stage: final
script:
- echo "ALL PLUGINS PIPELINES SUCCEED!!!"
CMakeLists.txt
View file @ 92d070d2
......@@ -12,7 +12,6 @@ endif(COMMAND cmake_policy)
# MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH 1)
# The project name
PROJECT(core)
set(PLUGIN_NAME "wolf${PROJECT_NAME}")
......@@ -35,16 +34,12 @@ SET(CMAKE_CXX_FLAGS_RELEASE "-O3 -D_REENTRANT")
#Set compiler according C++11 support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
CHECK_CXX_COMPILER_FLAG("-std=c++14" COMPILER_SUPPORTS_CXX14)
if(COMPILER_SUPPORTS_CXX14)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++14 support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++14 support. Please use a different C++ compiler.")
endif()
if(UNIX)
......@@ -85,36 +80,21 @@ ENDIF()
option(_WOLF_TRACE "Enable wolf tracing macro" ON)
# Does this has any other interest
# but for the examples ?
# yes, for the tests !
IF(BUILD_DEMOS OR BUILD_TESTS)
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
ENDIF(BUILD_DEMOS OR BUILD_TESTS)
#START_SRC --------------------------------------------------------------------------------------------------------------------------------
#CMAKE modules
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
MESSAGE(STATUS "Cmake modules at: " ${CMAKE_MODULE_PATH})
#find dependencies.
# ============ DEPENDENCIES ============
FIND_PACKAGE(Threads REQUIRED)
FIND_PACKAGE(Ceres REQUIRED) #Ceres is required
FIND_PACKAGE(Ceres REQUIRED)
FIND_PACKAGE(Eigen3 3.3 REQUIRED)
if(${EIGEN3_VERSION_STRING} VERSION_LESS 3.3)
message(FATAL_ERROR "Wolf requires Eigen >= 3.3. Found Eigen ${EIGEN3_VERSION_STRING}")
endif()
# YAML with yaml-cpp
FIND_PACKAGE(YamlCpp REQUIRED)
# ============ config.h ============
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
# Define the directory where will be the configured config.h
SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/core/internal)
......@@ -142,71 +122,13 @@ ELSE (SPDLOG_INCLUDE_DIR)
MESSAGE(FATAL_ERROR "Could not find spdlog")
ENDIF (SPDLOG_INCLUDE_DIR)
# Includes
# ============ INCLUDES ============
INCLUDE_DIRECTORIES("include") # In this same project
INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(${YAMLCPP_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})
#HEADERS
SET(HDRS_COMMON
include/core/common/factory.h
include/core/common/node_base.h
include/core/common/time_stamp.h
include/core/common/wolf.h
include/core/common/params_base.h
)
SET(HDRS_MATH
include/core/math/SE2.h
include/core/math/SE3.h
include/core/math/rotations.h
include/core/math/covariance.h
)
SET(HDRS_UTILS
include/core/utils/check_log.h
include/core/utils/converter.h
include/core/utils/eigen_assert.h
include/core/utils/eigen_predicates.h
include/core/utils/graph_search.h
include/core/utils/loader.h
include/core/utils/logging.h
include/core/utils/make_unique.h
include/core/utils/params_server.h
include/core/utils/singleton.h
include/core/utils/utils_gtest.h
include/core/utils/converter_utils.h
)
SET(HDRS_PROBLEM
include/core/problem/problem.h
)
SET(HDRS_HARDWARE
include/core/hardware/hardware_base.h
)
SET(HDRS_TRAJECTORY
include/core/trajectory/trajectory_base.h
)
SET(HDRS_MAP
include/core/map/map_base.h
)
SET(HDRS_FRAME
include/core/frame/frame_base.h
)
SET(HDRS_STATE_BLOCK
include/core/state_block/factory_state_block.h
include/core/state_block/has_state_blocks.h
include/core/state_block/local_parametrization_angle.h
include/core/state_block/local_parametrization_base.h
include/core/state_block/local_parametrization_homogeneous.h
include/core/state_block/local_parametrization_quaternion.h
include/core/state_block/state_angle.h
include/core/state_block/state_block.h
include/core/state_block/state_composite.h
include/core/state_block/state_homogeneous_3d.h
include/core/state_block/state_quaternion.h
)
# ============ HEADERS ============
SET(HDRS_CAPTURE
include/core/capture/capture_base.h
include/core/capture/capture_motion.h
......@@ -216,6 +138,13 @@ SET(HDRS_CAPTURE
include/core/capture/capture_void.h
include/core/capture/capture_diff_drive.h
)
SET(HDRS_COMMON
include/core/common/factory.h
include/core/common/node_base.h
include/core/common/time_stamp.h
include/core/common/wolf.h
include/core/common/params_base.h
)
SET(HDRS_FACTOR
include/core/factor/factor_analytic.h
include/core/factor/factor_autodiff.h
......@@ -235,18 +164,37 @@ SET(HDRS_FACTOR
)
SET(HDRS_FEATURE
include/core/feature/feature_base.h
include/core/feature/feature_diff_drive.h
include/core/feature/feature_match.h
include/core/feature/feature_motion.h
include/core/feature/feature_odom_2d.h
include/core/feature/feature_pose.h
)
SET(HDRS_FRAME
include/core/frame/frame_base.h
)
SET(HDRS_HARDWARE
include/core/hardware/hardware_base.h
)
SET(HDRS_LANDMARK
include/core/landmark/landmark_base.h
include/core/landmark/landmark_match.h
)
SET(HDRS_MATH
include/core/math/SE2.h
include/core/math/SE3.h
include/core/math/rotations.h
include/core/math/covariance.h
)
SET(HDRS_MAP
include/core/map/map_base.h
)
SET(HDRS_PROBLEM
include/core/problem/problem.h
)
SET(HDRS_PROCESSOR
include/core/processor/is_motion.h
include/core/processor/motion_buffer.h
include/core/processor/motion_provider.h
include/core/processor/processor_base.h
include/core/processor/processor_diff_drive.h
include/core/processor/processor_fix_wing_model.h
......@@ -275,54 +223,48 @@ SET(HDRS_SOLVER
include/core/solver/solver_manager.h
include/core/solver/factory_solver.h
)
SET(HDRS_STATE_BLOCK
include/core/state_block/factory_state_block.h
include/core/state_block/has_state_blocks.h
include/core/state_block/local_parametrization_angle.h
include/core/state_block/local_parametrization_base.h
include/core/state_block/local_parametrization_homogeneous.h
include/core/state_block/local_parametrization_quaternion.h
include/core/state_block/state_angle.h
include/core/state_block/state_block.h
include/core/state_block/state_composite.h
include/core/state_block/state_homogeneous_3d.h
include/core/state_block/state_quaternion.h
)
SET(HDRS_TRAJECTORY
include/core/trajectory/trajectory_base.h
)
SET(HDRS_TREE_MANAGER
include/core/tree_manager/factory_tree_manager.h
include/core/tree_manager/tree_manager_base.h
include/core/tree_manager/tree_manager_sliding_window.h
include/core/tree_manager/tree_manager_sliding_window_dual_rate.h
)
SET(HDRS_UTILS
include/core/utils/check_log.h
include/core/utils/converter.h
include/core/utils/eigen_assert.h
include/core/utils/eigen_predicates.h
include/core/utils/graph_search.h
include/core/utils/loader.h
include/core/utils/logging.h
include/core/utils/make_unique.h
include/core/utils/params_server.h
include/core/utils/singleton.h
include/core/utils/utils_gtest.h
include/core/utils/converter_utils.h
)
SET(HDRS_YAML
include/core/yaml/parser_yaml.h
include/core/yaml/yaml_conversion.h
)
#SOURCES
SET(SRCS_PROBLEM
src/problem/problem.cpp
)
SET(SRCS_HARDWARE
src/hardware/hardware_base.cpp
)
SET(SRCS_TRAJECTORY
src/trajectory/trajectory_base.cpp
)
SET(SRCS_MAP
src/map/map_base.cpp
)
SET(SRCS_FRAME
src/frame/frame_base.cpp
)
SET(SRCS_STATE_BLOCK
src/state_block/has_state_blocks.cpp
src/state_block/local_parametrization_base.cpp
src/state_block/local_parametrization_homogeneous.cpp
src/state_block/local_parametrization_quaternion.cpp
src/state_block/state_block.cpp
src/state_block/state_composite.cpp
)
SET(SRCS_COMMON
src/common/node_base.cpp
src/common/time_stamp.cpp
)
SET(SRCS_MATH
)
SET(SRCS_UTILS
src/utils/check_log.cpp
src/utils/converter_utils.cpp
src/utils/graph_search.cpp
src/utils/loader.cpp
src/utils/params_server.cpp
)
# ============ SOURCES ============
SET(SRCS_CAPTURE
src/capture/capture_base.cpp
src/capture/capture_motion.cpp
......@@ -332,22 +274,39 @@ SET(SRCS_CAPTURE
src/capture/capture_void.cpp
src/capture/capture_diff_drive.cpp
)
SET(SRCS_COMMON
src/common/node_base.cpp
src/common/time_stamp.cpp
)
SET(SRCS_FACTOR
src/factor/factor_analytic.cpp
src/factor/factor_base.cpp
)
SET(SRCS_FEATURE
src/feature/feature_base.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_motion.cpp
src/feature/feature_odom_2d.cpp
src/feature/feature_pose.cpp
)
SET(SRCS_FRAME
src/frame/frame_base.cpp
)
SET(SRCS_HARDWARE
src/hardware/hardware_base.cpp
)
SET(SRCS_LANDMARK
src/landmark/landmark_base.cpp
)
SET(SRCS_MAP
src/map/map_base.cpp
)
SET(SRCS_PROBLEM
src/problem/problem.cpp
)
SET(SRCS_PROCESSOR
src/processor/is_motion.cpp
src/processor/motion_buffer.cpp
src/processor/motion_provider.cpp
src/processor/processor_base.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_fix_wing_model.cpp
......@@ -372,10 +331,28 @@ SET(SRCS_SENSOR
SET(SRCS_SOLVER
src/solver/solver_manager.cpp
)
SET(SRCS_STATE_BLOCK
src/state_block/has_state_blocks.cpp
src/state_block/local_parametrization_base.cpp
src/state_block/local_parametrization_homogeneous.cpp
src/state_block/local_parametrization_quaternion.cpp
src/state_block/state_block.cpp
src/state_block/state_composite.cpp
)
SET(SRCS_TRAJECTORY
src/trajectory/trajectory_base.cpp
)
SET(SRCS_TREE_MANAGER
src/tree_manager/tree_manager_sliding_window.cpp
src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
)
SET(SRCS_UTILS
src/utils/check_log.cpp
src/utils/converter_utils.cpp
src/utils/graph_search.cpp
src/utils/loader.cpp
src/utils/params_server.cpp
)
SET(SRCS_YAML
src/yaml/parser_yaml.cpp
src/yaml/processor_odom_3d_yaml.cpp
......@@ -383,10 +360,10 @@ SET(SRCS_YAML
src/yaml/sensor_odom_3d_yaml.cpp
src/yaml/sensor_pose_yaml.cpp
)
#OPTIONALS
#optional HDRS and SRCS
# ============ OPTIONALS ============
IF (Ceres_FOUND)
SET(HDRS_WRAPPER
SET(HDRS_CERES_WRAPPER
#ceres_wrapper/qr_manager.h
include/core/ceres_wrapper/cost_function_wrapper.h
include/core/ceres_wrapper/create_numeric_diff_cost_function.h
......@@ -396,32 +373,26 @@ IF (Ceres_FOUND)
include/core/solver/solver_manager.h
include/core/solver_suitesparse/sparse_utils.h
)
SET(SRCS_WRAPPER
SET(SRCS_CERES_WRAPPER
#ceres_wrapper/qr_manager.cpp
src/ceres_wrapper/solver_ceres.cpp
src/ceres_wrapper/local_parametrization_wrapper.cpp
src/solver/solver_manager.cpp
)
ELSE(Ceres_FOUND)
SET(HDRS_WRAPPER)
SET(SRCS_WRAPPER)
SET(HDRS_CERES_WRAPPER)
SET(SRCS_CERES_WRAPPER)
ENDIF(Ceres_FOUND)
IF (cereal_FOUND)
ADD_SUBDIRECTORY(serialization/cereal)
ENDIF(cereal_FOUND)
IF (Suitesparse_FOUND)
#DOES NOTHING?!
#ADD_SUBDIRECTORY(solver_suitesparse)
ENDIF(Suitesparse_FOUND)
# create the shared library
ADD_LIBRARY(${PLUGIN_NAME}
SHARED
${SRCS}
${SRCS_BASE}
${SRCS_CAPTURE}
${SRCS_CERES_WRAPPER}
${SRCS_COMMON}
${SRCS_FACTOR}
${SRCS_FEATURE}
......@@ -429,7 +400,6 @@ ADD_LIBRARY(${PLUGIN_NAME}
${SRCS_HARDWARE}
${SRCS_LANDMARK}
${SRCS_MAP}
${SRCS_MATH}
${SRCS_PROBLEM}
${SRCS_PROCESSOR}
${SRCS_SENSOR}
......@@ -438,7 +408,6 @@ ADD_LIBRARY(${PLUGIN_NAME}
${SRCS_TRAJECTORY}
${SRCS_TREE_MANAGER}
${SRCS_UTILS}
${SRCS_WRAPPER}
${SRCS_YAML}
)
......@@ -462,30 +431,33 @@ IF (Ceres_FOUND)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${CERES_LIBRARIES})
ENDIF(Ceres_FOUND)
#Build tests
#===============EXAMPLE=========================
IF(BUILD_TESTS)
MESSAGE(STATUS "Will build tests.")
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#Build demos
#===============EXAMPLE=========================
IF(BUILD_DEMOS)
#Build demos
MESSAGE(STATUS "Will build demos.")
ADD_SUBDIRECTORY(demos)
ENDIF(BUILD_DEMOS)
#install library
#=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms)
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers
INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/capture)
INSTALL(FILES ${HDRS_CERES_WRAPPER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
INSTALL(FILES ${HDRS_COMMON}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/common)
INSTALL(FILES ${HDRS_FACTOR}
......@@ -508,12 +480,10 @@ INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/processor)
INSTALL(FILES ${HDRS_SENSOR}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/sensor)
INSTALL(FILES ${HDRS_SERIALIZATION}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/serialization)
INSTALL(FILES ${HDRS_SOLVER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver)
INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
#INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
# DESTINATION include/iri-algorithms/wolf/plugin_core/core/solver_suitesparse)
INSTALL(FILES ${HDRS_STATE_BLOCK}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/state_block)
INSTALL(FILES ${HDRS_TRAJECTORY}
......@@ -522,14 +492,14 @@ INSTALL(FILES ${HDRS_TREE_MANAGER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/tree_manager)
INSTALL(FILES ${HDRS_UTILS}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/utils)
INSTALL(FILES ${HDRS_WRAPPER}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/ceres_wrapper)
INSTALL(FILES ${HDRS_YAML}
DESTINATION include/iri-algorithms/wolf/plugin_core/core/yaml)
FILE(WRITE ${PLUGIN_NAME}.found "")
INSTALL(FILES ${PLUGIN_NAME}.found
DESTINATION include/iri-algorithms/wolf/plugin_core)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
#install Find*.cmake
configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
......@@ -538,9 +508,6 @@ configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake"
configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/FindYamlCpp.cmake"
"${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" @ONLY)
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_core/core/internal)
INSTALL(FILES "${CMAKE_BINARY_DIR}/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(FILES "${CMAKE_BINARY_DIR}/FindYamlCpp.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
......@@ -548,8 +515,6 @@ INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
export(PACKAGE ${PLUGIN_NAME})
#-END_SRC --------------------------------------------------------------------------------------------------------------------------------
FIND_PACKAGE(Doxygen)
FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
......
cmake_modules/wolfcoreConfig.cmake
View file @ 92d070d2
......@@ -12,7 +12,7 @@ ENDIF(wolfcore_INCLUDE_DIRS)
FIND_LIBRARY(
wolfcore_LIBRARIES
NAMES libwolfcore.so libwolfcore.dylib
PATHS /usr/local/lib/iri-algorithms)
PATHS /usr/local/lib)
IF(wolfcore_LIBRARIES)
MESSAGE("Found wolf core lib: ${wolfcore_LIBRARIES}")
ELSE(wolfcore_LIBRARIES)
......@@ -97,3 +97,8 @@ else (NOT wolfcore_FOUND)
list(APPEND wolfcore_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIRS})
endif(NOT wolfcore_FOUND)
SET(CMAKE_MODULE_PATH ${BACKUP_MODULE_PATH})
# provide both INCLUDE_DIR and INCLUDE_DIRS
SET(wolfcore_INCLUDE_DIR ${wolfcore_INCLUDE_DIRS})
# provide both LIBRARY and LIBRARIES
SET(wolfcore_LIBRARY ${wolfcore_LIBRARIES})
demos/demo_analytic_autodiff_factor.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
// Testing creating wolf tree from imported .graph file
//C includes for sleep, time and main args
......
demos/demo_wolf_imported_graph.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
// Testing creating wolf tree from imported .graph file
//C includes for sleep, time and main args
......
demos/hello_wolf/capture_range_bearing.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* CaptureRangeBearing2d.cpp
*
......
demos/hello_wolf/capture_range_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* capture_range_bearing.h
*
......
demos/hello_wolf/factor_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* FactorBearing.h
*
......
demos/hello_wolf/factor_range_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/**
* \file factor_range_bearing.h
*
......
demos/hello_wolf/feature_range_bearing.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* FeatureRangeBearing2d.cpp
*
......
demos/hello_wolf/feature_range_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* FeatureRangeBearing2d.h
*
......
demos/hello_wolf/hello_wolf.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/**
* \file hello_wolf.cpp
*
......@@ -140,7 +161,7 @@ int main()
VectorComposite x(Vector3d(0,0,0), "PO", {2,1});
// Matrix3d P = Matrix3d::Identity() * 0.1;
VectorComposite P(Vector3d(sqrt(0.1),sqrt(0.1),sqrt(0.1)), "PO", {2,1});
FrameBasePtr KF1 = problem->setPriorFactor(x, P, t, 0.5); // KF1 : (0,0,0)
FrameBasePtr KF1 = problem->setPriorFactor(x, P, t); // KF1 : (0,0,0)
std::static_pointer_cast<ProcessorMotion>(processor)->setOrigin(KF1);
// SELF CALIBRATION ===================================================
......
demos/hello_wolf/hello_wolf_autoconf.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/**
* \file hello_wolf_autoconf.cpp
*
......@@ -95,7 +116,7 @@ int main()
using namespace wolf;
WOLF_TRACE("======== CONFIGURE PROBLEM =======");
WOLF_INFO("======== CONFIGURE PROBLEM =======");
// Config file to parse. Here is where all the problem is defined:
std::string config_file = "demos/hello_wolf/yaml/hello_wolf_config.yaml";
......@@ -123,7 +144,7 @@ int main()
// APPLY PRIOR and SET PROCESSOR ODOM ORIGIN ===================================================
TimeStamp t(0.0);
FrameBasePtr KF1 = problem->applyPriorOptions(t);
std::static_pointer_cast<ProcessorMotion>(problem->getProcessorIsMotion())->setOrigin(KF1);
// std::static_pointer_cast<ProcessorMotion>(problem->getMotionProviderMap().begin()->second)->setOrigin(KF1);
// SELF CALIBRATION ===================================================
// These few lines control whether we calibrate some sensor parameters or not.
......@@ -148,12 +169,16 @@ int main()
// SET OF EVENTS: make things happen =======================================================
std::cout << std::endl;
WOLF_TRACE("======== START ROBOT MOVE AND SLAM =======")
WOLF_INFO("======== START ROBOT MOVE AND SLAM =======")
// We'll do 3 steps of motion and landmark observations.
// STEP 1 --------------------------------------------------------------
// move zero motion to accept the first keyframe and initialize the processor
CaptureOdom2dPtr cap_motion = std::make_shared<CaptureOdom2d>(t, sensor_odo, 0*motion_data, 0*motion_cov);
cap_motion ->process(); // KF1 : (0,0,0)
// observe lmks
ids.resize(1); ranges.resize(1); bearings.resize(1);
ids << 1; // will observe Lmk 1
......@@ -166,7 +191,7 @@ int main()
t += 1.0; // t : 1.0
// motion
CaptureOdom2dPtr cap_motion = std::make_shared<CaptureOdom2d>(t, sensor_odo, motion_data, motion_cov);
cap_motion = std::make_shared<CaptureOdom2d>(t, sensor_odo, motion_data, motion_cov);
cap_motion ->process(); // KF2 : (1,0,0)
// observe lmks
......@@ -199,40 +224,40 @@ int main()
// SOLVE ================================================================
// SOLVE with exact initial guess
WOLF_TRACE("======== SOLVE PROBLEM WITH EXACT PRIORS =======")
WOLF_INFO("======== SOLVE PROBLEM WITH EXACT PRIORS =======")
std::string report = ceres->solve(wolf::SolverManager::ReportVerbosity::FULL);
WOLF_TRACE(report); // should show a very low iteration number (possibly 1)
WOLF_INFO(report); // should show a very low iteration number (possibly 1)
problem->print(1,0,1,0);
// PERTURB initial guess
WOLF_TRACE("======== PERTURB PROBLEM PRIORS =======")
WOLF_INFO("======== PERTURB PROBLEM PRIORS =======")
problem->perturb(0.5); // Perturb all state blocks that are not fixed
problem->print(1,0,1,0);
// SOLVE again
WOLF_TRACE("======== SOLVE PROBLEM WITH PERTURBED PRIORS =======")
WOLF_INFO("======== SOLVE PROBLEM WITH PERTURBED PRIORS =======")
report = ceres->solve(wolf::SolverManager::ReportVerbosity::FULL);
WOLF_TRACE(report); // should show a very high iteration number (more than 10, or than 100!)
WOLF_INFO(report); // should show a very high iteration number (more than 10, or than 100!)
problem->print(1,0,1,0);
// GET COVARIANCES of all states
WOLF_TRACE("======== COVARIANCES OF SOLVED PROBLEM =======")
WOLF_INFO("======== COVARIANCES OF SOLVED PROBLEM =======")
ceres->computeCovariances(SolverManager::CovarianceBlocksToBeComputed::ALL_MARGINALS);
for (auto& kf : *problem->getTrajectory())
{
Eigen::MatrixXd cov;
kf->getCovariance(cov);
WOLF_TRACE("KF", kf->id(), "_cov = \n", cov);
WOLF_INFO("KF", kf->id(), "_cov = \n", cov);
}
for (auto& lmk : problem->getMap()->getLandmarkList())
{
Eigen::MatrixXd cov;
lmk->getCovariance(cov);
WOLF_TRACE("L", lmk->id(), "_cov = \n", cov);
WOLF_INFO("L", lmk->id(), "_cov = \n", cov);
}
std::cout << std::endl;
WOLF_TRACE("======== FINAL PRINT FOR INTERPRETATION =======")
WOLF_INFO("======== FINAL PRINT FOR INTERPRETATION =======")
problem->print(4,1,1,1);
/*
......
demos/hello_wolf/landmark_point_2d.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/**
* \file landmark_point_2d.cpp
*
......
demos/hello_wolf/landmark_point_2d.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/**
* \file landmark_point_2d.h
*
......
demos/hello_wolf/processor_range_bearing.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* processor_range_bearing.cpp
*
......@@ -29,30 +50,27 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
}
// 1. get KF
FrameBasePtr kf(nullptr);
if ( !buffer_pack_kf_.empty() )
FrameBasePtr keyframe(nullptr);
if ( !buffer_frame_.empty() )
{
// KeyFrame Callback received
PackKeyFramePtr pack = buffer_pack_kf_.selectPack( _capture->getTimeStamp(), params_->time_tolerance );
keyframe = buffer_frame_.select( _capture->getTimeStamp(), params_->time_tolerance );
if (pack!=nullptr)
kf = pack->key_frame;
buffer_frame_.removeUpTo( _capture->getTimeStamp() );
buffer_pack_kf_.removeUpTo( _capture->getTimeStamp() );
assert( kf && "Callback KF is not close enough to _capture!");
assert( keyframe && "Callback KF is not close enough to _capture!");
}
if (!kf)
if (!keyframe)
{
// No KeyFrame callback received -- we assume a KF is available to hold this _capture (checked in assert below)
kf = getProblem()->closestFrameToTimeStamp(_capture->getTimeStamp());
assert( (fabs(kf->getTimeStamp() - _capture->getTimeStamp()) < params_->time_tolerance) && "Could not find a KF close enough to _capture!");
keyframe = getProblem()->closestFrameToTimeStamp(_capture->getTimeStamp());
assert( (fabs(keyframe->getTimeStamp() - _capture->getTimeStamp()) < params_->time_tolerance) && "Could not find a KF close enough to _capture!");
}
// 2. cast incoming capture to the range-and-bearing type, add it to the keyframe
CaptureRangeBearingPtr capture_rb = std::static_pointer_cast<CaptureRangeBearing>(_capture);
capture_rb->link(kf);
capture_rb->link(keyframe);
// 3. explore all observations in the capture
for (SizeEigen i = 0; i < capture_rb->getIds().size(); i++)
......@@ -82,14 +100,14 @@ void ProcessorRangeBearing::processCapture(CaptureBasePtr _capture)
}
// 5. create feature
Vector2d rb(range,bearing);
Vector2d measurement_rb(range,bearing);
auto ftr = FeatureBase::emplace<FeatureRangeBearing>(capture_rb,
rb,
measurement_rb,
getSensor()->getNoiseCov());
// 6. create factor
auto prc = shared_from_this();
auto ctr = FactorBase::emplace<FactorRangeBearing>(ftr,
auto fac = FactorBase::emplace<FactorRangeBearing>(ftr,
capture_rb,
ftr,
lmk,
......
demos/hello_wolf/processor_range_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* ProcessorRangeBearing.h
*
......@@ -55,9 +76,9 @@ class ProcessorRangeBearing : public ProcessorBase
protected:
// Implementation of pure virtuals from ProcessorBase
void processCapture (CaptureBasePtr _capture) override;
void processKeyFrame (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) override {};
void processKeyFrame (FrameBasePtr _keyframe_ptr) override {};
bool triggerInCapture (CaptureBasePtr) const override { return true;};
bool triggerInKeyFrame (FrameBasePtr _keyframe_ptr, const double& _time_tol_other) const override {return false;}
bool triggerInKeyFrame (FrameBasePtr _keyframe_ptr) const override {return false;}
bool voteForKeyFrame () const override {return false;}
/** \brief store key frame
......
demos/hello_wolf/sensor_range_bearing.cpp
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* SensorRangeBearing.cpp
*
......
demos/hello_wolf/sensor_range_bearing.h
View file @ 92d070d2
//--------LICENSE_START--------
//
// Copyright (C) 2020,2021,2022 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
// Authors: Joan Solà Ortega (jsola@iri.upc.edu)
// All rights reserved.
//
// This file is part of WOLF
// WOLF is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//--------LICENSE_END--------
/*
* SensorRangeBearing.h
*
......
demos/hello_wolf/yaml/hello_wolf_config.yaml
View file @ 92d070d2
......@@ -13,7 +13,7 @@ config:
$sigma:
P: [0.31, 0.31]
O: [0.31]
time_tolerance: 0.1
time_tolerance: 0.5
tree_manager:
type: "none"
......@@ -23,7 +23,12 @@ config:
verbose: 0
period: 0.2
update_immediately: false
n_threads: 1
n_threads: 2
compute_cov: false
minimizer: LEVENBERG_MARQUARDT
use_nonmonotonic_steps: false # only for LEVENBERG_MARQUARDT and DOGLEG
function_tolerance: 0.000001
gradient_tolerance: 0.0000000001
sensors:
......