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with 191 additions and 181 deletions
...@@ -100,7 +100,7 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON) ...@@ -100,7 +100,7 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON)
# option(BUILD_EXAMPLES "Build examples" OFF) # option(BUILD_EXAMPLES "Build examples" OFF)
set(BUILD_TESTS true) set(BUILD_TESTS true)
set(BUILD_EXAMPLES true) set(BUILD_EXAMPLES false)
# Does this has any other interest # Does this has any other interest
# but for the examples ? # but for the examples ?
...@@ -254,41 +254,54 @@ ENDIF(GLOG_FOUND) ...@@ -254,41 +254,54 @@ ENDIF(GLOG_FOUND)
#HEADERS #HEADERS
SET(HDRS_BASE
include/base/diff_drive_tools.h SET(HDRS_COMMON
include/base/diff_drive_tools.hpp include/base/common/factory.h
include/base/eigen_assert.h include/base/common/node_base.h
include/base/eigen_predicates.h include/base/common/time_stamp.h
include/base/factory.h include/base/common/wolf.h
include/base/frame_base.h )
include/base/hardware_base.h SET(HDRS_MATH
include/base/IMU_tools.h include/base/math/pinhole_tools.h
include/base/local_parametrization_angle.h include/base/math/SE3.h
include/base/local_parametrization_base.h include/base/math/IMU_tools.h
include/base/local_parametrization_homogeneous.h include/base/math/rotations.h
include/base/local_parametrization_polyline_extreme.h )
include/base/local_parametrization_quaternion.h SET(HDRS_UTILS
include/base/logging.h include/base/utils/eigen_assert.h
include/base/make_unique.h include/base/utils/eigen_predicates.h
include/base/map_base.h include/base/utils/logging.h
include/base/motion_buffer.h include/base/utils/singleton.h
include/base/node_base.h include/base/utils/make_unique.h
include/base/pinhole_tools.h )
include/base/problem.h SET(HDRS_PROBLEM
include/base/rotations.h include/base/problem/problem.h
include/base/singleton.h )
include/base/state_angle.h SET(HDRS_HARDWARE
include/base/state_block.h include/base/hardware/hardware_base.h
include/base/state_homogeneous_3D.h )
include/base/state_quaternion.h SET(HDRS_TRAJECTORY
include/base/SE3.h include/base/trajectory/trajectory_base.h
include/base/time_stamp.h )
include/base/track_matrix.h SET(HDRS_MAP
include/base/trajectory_base.h include/base/map/map_base.h
include/base/wolf.h
include/base/IMU_tools.h
include/base/local_parametrization_polyline_extreme.h
) )
SET(HDRS_FRAME
include/base/frame/frame_base.h
)
SET(HDRS_STATE_BLOCK
include/base/state_block/local_parametrization_angle.h
include/base/state_block/local_parametrization_base.h
include/base/state_block/local_parametrization_homogeneous.h
include/base/state_block/local_parametrization_polyline_extreme.h
include/base/state_block/local_parametrization_quaternion.h
include/base/state_block/state_angle.h
include/base/state_block/state_block.h
include/base/state_block/state_homogeneous_3D.h
include/base/state_block/state_quaternion.h
include/base/state_block/local_parametrization_polyline_extreme.h
)
SET(HDRS_CAPTURE SET(HDRS_CAPTURE
include/base/capture/capture_base.h include/base/capture/capture_base.h
include/base/capture/capture_buffer.h include/base/capture/capture_buffer.h
...@@ -383,29 +396,33 @@ SET(HDRS_LANDMARK ...@@ -383,29 +396,33 @@ SET(HDRS_LANDMARK
include/base/landmark/landmark_polyline_2D.h include/base/landmark/landmark_polyline_2D.h
) )
SET(HDRS_PROCESSOR SET(HDRS_PROCESSOR
include/base/processor/diff_drive_tools.h
include/base/processor/diff_drive_tools.hpp
include/base/processor/motion_buffer.h
include/base/processor/processor_IMU.h
include/base/processor/processor_IMU.h
include/base/processor/processor_base.h
include/base/processor/processor_capture_holder.h include/base/processor/processor_capture_holder.h
include/base/processor/processor_diff_drive.h include/base/processor/processor_diff_drive.h
include/base/processor/processor_factory.h
include/base/processor/processor_factory.h
include/base/processor/processor_frame_nearest_neighbor_filter.h include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_logging.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_2D.h include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h include/base/processor/processor_odom_3D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_feature_dummy.h include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark.h include/base/processor/processor_tracker_landmark.h
include/base/processor/processor_tracker_landmark_dummy.h include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_frame_nearest_neighbor_filter.h
include/base/processor/processor_IMU.h
include/base/processor/processor_odom_2D.h
include/base/processor/processor_odom_3D.h
include/base/processor/processor_tracker_feature_dummy.h
include/base/processor/processor_tracker_landmark_dummy.h include/base/processor/processor_tracker_landmark_dummy.h
include/base/processor/processor_factory.h include/base/processor/track_matrix.h
include/base/processor/processor_logging.h
include/base/processor/processor_base.h
include/base/processor/processor_factory.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
) )
SET(HDRS_SENSOR SET(HDRS_SENSOR
include/base/sensor/sensor_base.h include/base/sensor/sensor_base.h
...@@ -427,101 +444,55 @@ SET(HDRS_SENSOR ...@@ -427,101 +444,55 @@ SET(HDRS_SENSOR
SET(HDRS_SOLVER SET(HDRS_SOLVER
include/base/solver/solver_manager.h include/base/solver/solver_manager.h
) )
# [Add generic derived header before this line]
SET(HDRS_DTASSC SET(HDRS_DTASSC
include/base/track_matrix.h
include/base/association/association_solver.h include/base/association/association_solver.h
include/base/association/association_node.h include/base/association/association_node.h
include/base/association/association_tree.h include/base/association/association_tree.h
include/base/association/association_nnls.h include/base/association/association_nnls.h
) )
SET(HDRS_CORE
include/base/capture/capture_base.h
include/base/capture/capture_buffer.h
include/base/capture/capture_pose.h
include/base/capture/capture_void.h
include/base/factor/factor_analytic.h
include/base/factor/factor_autodiff.h
include/base/factor/factor_base.h
include/base/processor/processor_factory.h
include/base/feature/feature_base.h
include/base/feature/feature_match.h
include/base/feature/feature_pose.h
include/base/frame_base.h
include/base/hardware_base.h
include/base/landmark/landmark_base.h
include/base/local_parametrization_angle.h
include/base/local_parametrization_base.h
include/base/local_parametrization_homogeneous.h
include/base/local_parametrization_quaternion.h
include/base/processor/processor_logging.h
include/base/map_base.h
include/base/motion_buffer.h
include/base/node_base.h
include/base/problem.h
include/base/processor/processor_base.h
include/base/processor/processor_loopclosure_base.h
include/base/processor/processor_motion.h
include/base/processor/processor_tracker_feature.h
include/base/processor/processor_tracker.h
include/base/rotations.h
include/base/sensor/sensor_base.h
include/base/processor/processor_factory.h
include/base/singleton.h
include/base/state_angle.h
include/base/state_block.h
include/base/state_homogeneous_3D.h
include/base/state_quaternion.h
include/base/SE3.h
include/base/time_stamp.h
include/base/track_matrix.h
include/base/trajectory_base.h
include/base/wolf.h
)
#SOURCES #SOURCES
SET(SRCS_CORE SET(SRCS_PROBLEM
src/capture/capture_base.cpp src/problem/problem.cpp
src/capture/capture_pose.cpp
src/capture/capture_void.cpp
src/factor/factor_analytic.cpp
src/factor/factor_base.cpp
src/feature/feature_base.cpp
src/feature/feature_pose.cpp
src/frame_base.cpp
src/hardware_base.cpp
src/landmark/landmark_base.cpp
src/local_parametrization_base.cpp
src/local_parametrization_homogeneous.cpp
src/local_parametrization_quaternion.cpp
src/map_base.cpp
src/motion_buffer.cpp
src/node_base.cpp
src/problem.cpp
src/processor/processor_base.cpp
src/processor/processor_loopclosure_base.cpp
src/processor/processor_motion.cpp
src/processor/processor_tracker.cpp
src/sensor/sensor_base.cpp
src/state_block.cpp
src/time_stamp.cpp
src/track_matrix.cpp
src/trajectory_base.cpp
) )
SET(SRCS_HARDWARE
SET(SRCS_BASE src/hardware/hardware_base.cpp
src/capture/capture_motion.cpp )
src/processor/processor_capture_holder.cpp SET(SRCS_TRAJECTORY
# examples/test_processor_tracker_landmark.cpp 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/state_block.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/local_parametrization_polyline_extreme.cpp
)
SET(SRCS_COMMON
src/common/node_base.cpp
src/common/time_stamp.cpp
)
SET(SRCS_MATH
)
SET(SRCS_UTILS
) )
SET(SRCS SET(SRCS
src/local_parametrization_polyline_extreme.cpp
test/processor_IMU_UnitTester.cpp test/processor_IMU_UnitTester.cpp
) )
SET(SRCS_CAPTURE SET(SRCS_CAPTURE
src/capture/capture_motion.cpp
src/capture/capture_base.cpp
src/capture/capture_pose.cpp
src/capture/capture_void.cpp
src/capture/capture_GPS_fix.cpp src/capture/capture_GPS_fix.cpp
src/capture/capture_IMU.cpp src/capture/capture_IMU.cpp
src/capture/capture_odom_2D.cpp src/capture/capture_odom_2D.cpp
...@@ -529,33 +500,48 @@ SET(SRCS_CAPTURE ...@@ -529,33 +500,48 @@ SET(SRCS_CAPTURE
src/capture/capture_velocity.cpp src/capture/capture_velocity.cpp
src/capture/capture_wheel_joint_position.cpp src/capture/capture_wheel_joint_position.cpp
) )
SET(SRCS_FACTOR
src/factor/factor_analytic.cpp
src/factor/factor_base.cpp
)
SET(SRCS_FEATURE SET(SRCS_FEATURE
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_GPS_fix.cpp src/feature/feature_GPS_fix.cpp
src/feature/feature_GPS_pseudorange.cpp src/feature/feature_GPS_pseudorange.cpp
src/feature/feature_IMU.cpp src/feature/feature_IMU.cpp
src/feature/feature_base.cpp
src/feature/feature_corner_2D.cpp
src/feature/feature_diff_drive.cpp
src/feature/feature_odom_2D.cpp src/feature/feature_odom_2D.cpp
src/feature/feature_polyline_2D.cpp src/feature/feature_polyline_2D.cpp
src/feature/feature_pose.cpp
) )
SET(SRCS_LANDMARK SET(SRCS_LANDMARK
src/landmark/landmark_corner_2D.cpp src/landmark/landmark_corner_2D.cpp
src/landmark/landmark_container.cpp src/landmark/landmark_container.cpp
src/landmark/landmark_line_2D.cpp src/landmark/landmark_line_2D.cpp
src/landmark/landmark_polyline_2D.cpp src/landmark/landmark_polyline_2D.cpp
src/landmark/landmark_base.cpp
) )
SET(SRCS_PROCESSOR SET(SRCS_PROCESSOR
src/processor/processor_frame_nearest_neighbor_filter.cpp src/processor/motion_buffer.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_IMU.cpp src/processor/processor_IMU.cpp
src/processor/processor_base.cpp
src/processor/processor_capture_holder.cpp
src/processor/processor_diff_drive.cpp
src/processor/processor_frame_nearest_neighbor_filter.cpp
src/processor/processor_loopclosure_base.cpp
src/processor/processor_motion.cpp
src/processor/processor_odom_2D.cpp src/processor/processor_odom_2D.cpp
src/processor/processor_odom_3D.cpp src/processor/processor_odom_3D.cpp
src/processor/processor_tracker.cpp
src/processor/processor_tracker_feature.cpp src/processor/processor_tracker_feature.cpp
src/processor/processor_tracker_feature_dummy.cpp src/processor/processor_tracker_feature_dummy.cpp
src/processor/processor_tracker_landmark_dummy.cpp
src/processor/processor_tracker_landmark.cpp src/processor/processor_tracker_landmark.cpp
src/processor/processor_tracker_landmark_dummy.cpp
src/processor/track_matrix.cpp
) )
SET(SRCS_SENSOR SET(SRCS_SENSOR
src/sensor/sensor_base.cpp
src/sensor/sensor_camera.cpp src/sensor/sensor_camera.cpp
src/sensor/sensor_diff_drive.cpp src/sensor/sensor_diff_drive.cpp
src/sensor/sensor_GPS.cpp src/sensor/sensor_GPS.cpp
...@@ -704,17 +690,25 @@ ENDIF(YAMLCPP_FOUND) ...@@ -704,17 +690,25 @@ ENDIF(YAMLCPP_FOUND)
ADD_LIBRARY(${PROJECT_NAME} ADD_LIBRARY(${PROJECT_NAME}
SHARED SHARED
${SRCS_BASE} ${SRCS_BASE}
${SRCS_CORE}
${SRCS}
${SRCS_CAPTURE} ${SRCS_CAPTURE}
${SRCS_COMMON}
${SRCS_DTASSC}
${SRCS_FACTOR} ${SRCS_FACTOR}
${SRCS_FEATURE} ${SRCS_FEATURE}
${SRCS_FRAME}
${SRCS_HARDWARE}
${SRCS_LANDMARK} ${SRCS_LANDMARK}
${SRCS_MAP}
${SRCS_MATH}
${SRCS_PROBLEM}
${SRCS_PROCESSOR} ${SRCS_PROCESSOR}
${SRCS_SENSOR} ${SRCS_SENSOR}
#${SRCS_DTASSC}
${SRCS_SOLVER} ${SRCS_SOLVER}
${SRCS_STATE_BLOCK}
${SRCS_TRAJECTORY}
${SRCS_UTILS}
${SRCS_WRAPPER} ${SRCS_WRAPPER}
${SRCS}
) )
TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT}) TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
...@@ -764,40 +758,56 @@ ENDIF(BUILD_EXAMPLES) ...@@ -764,40 +758,56 @@ ENDIF(BUILD_EXAMPLES)
#============================================================= #=============================================================
INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}Targets
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms) ARCHIVE DESTINATION lib/iri-algorithms)
install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME}) install(EXPORT ${PROJECT_NAME}Targets DESTINATION lib/cmake/${PROJECT_NAME})
#install headers #install headers
INSTALL(FILES ${HDRS_BASE} INSTALL(FILES ${HDRS_MATH}
DESTINATION include/iri-algorithms/wolf/base) DESTINATION include/iri-algorithms/wolf/base/math)
INSTALL(FILES ${HDRS_UTILS}
DESTINATION include/iri-algorithms/wolf/base/utils)
INSTALL(FILES ${HDRS_PROBLEM}
DESTINATION include/iri-algorithms/wolf/base/problem)
INSTALL(FILES ${HDRS_HARDWARE}
DESTINATION include/iri-algorithms/wolf/base/hardware)
INSTALL(FILES ${HDRS_TRAJECTORY}
DESTINATION include/iri-algorithms/wolf/base/trajectory)
INSTALL(FILES ${HDRS_MAP}
DESTINATION include/iri-algorithms/wolf/base/map)
INSTALL(FILES ${HDRS_FRAME}
DESTINATION include/iri-algorithms/wolf/base/frame)
INSTALL(FILES ${HDRS_STATE_BLOCK}
DESTINATION include/iri-algorithms/wolf/base/state_block)
INSTALL(FILES ${HDRS_COMMON}
DESTINATION include/iri-algorithms/wolf/base/common)
INSTALL(FILES ${HDRS_DTASSC} INSTALL(FILES ${HDRS_DTASSC}
DESTINATION include/iri-algorithms/wolf/base/association) DESTINATION include/iri-algorithms/wolf/base/association)
INSTALL(FILES ${HDRS_CAPTURE} INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/base/capture) DESTINATION include/iri-algorithms/wolf/base/capture)
INSTALL(FILES ${HDRS_FACTOR} INSTALL(FILES ${HDRS_FACTOR}
DESTINATION include/iri-algorithms/wolf/base/factor) DESTINATION include/iri-algorithms/wolf/base/factor)
INSTALL(FILES ${HDRS_FEATURE} INSTALL(FILES ${HDRS_FEATURE}
DESTINATION include/iri-algorithms/wolf/base/feature) DESTINATION include/iri-algorithms/wolf/base/feature)
INSTALL(FILES ${HDRS_SENSOR} INSTALL(FILES ${HDRS_SENSOR}
DESTINATION include/iri-algorithms/wolf/base/sensor) DESTINATION include/iri-algorithms/wolf/base/sensor)
INSTALL(FILES ${HDRS_PROCESSOR} INSTALL(FILES ${HDRS_PROCESSOR}
DESTINATION include/iri-algorithms/wolf/base/processor) DESTINATION include/iri-algorithms/wolf/base/processor)
INSTALL(FILES ${HDRS_LANDMARK} INSTALL(FILES ${HDRS_LANDMARK}
DESTINATION include/iri-algorithms/wolf/base/landmark) DESTINATION include/iri-algorithms/wolf/base/landmark)
INSTALL(FILES ${HDRS_WRAPPER} INSTALL(FILES ${HDRS_WRAPPER}
DESTINATION include/iri-algorithms/wolf/base/ceres_wrapper) DESTINATION include/iri-algorithms/wolf/base/ceres_wrapper)
INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE} INSTALL(FILES ${HDRS_SOLVER_SUITESPARSE}
DESTINATION include/iri-algorithms/wolf/base/solver_suitesparse) DESTINATION include/iri-algorithms/wolf/base/solver_suitesparse)
INSTALL(FILES ${HDRS_SOLVER} INSTALL(FILES ${HDRS_SOLVER}
DESTINATION include/iri-algorithms/wolf/base/solver) DESTINATION include/iri-algorithms/wolf/base/solver)
INSTALL(FILES ${HDRS_SERIALIZATION} INSTALL(FILES ${HDRS_SERIALIZATION}
DESTINATION include/iri-algorithms/wolf/base/serialization) DESTINATION include/iri-algorithms/wolf/base/serialization)
INSTALL(FILES ${HDRS_YAML} INSTALL(FILES ${HDRS_YAML}
DESTINATION include/iri-algorithms/wolf/base/yaml) DESTINATION include/iri-algorithms/wolf/base/yaml)
INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf.cmake" INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/Findwolf.cmake"
DESTINATION "lib/cmake/${PROJECT_NAME}") DESTINATION "lib/cmake/${PROJECT_NAME}")
#install Find*.cmake #install Find*.cmake
configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolfConfig.cmake" configure_file("${CMAKE_SOURCE_DIR}/cmake_modules/wolfConfig.cmake"
......
...@@ -12,7 +12,7 @@ ...@@ -12,7 +12,7 @@
* \author: jsola * \author: jsola
*/ */
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/sensor/sensor_odom_2D.h" #include "base/sensor/sensor_odom_2D.h"
#include "base/processor/processor_odom_2D.h" #include "base/processor/processor_odom_2D.h"
......
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
*/ */
#include "sensor_range_bearing.h" #include "sensor_range_bearing.h"
#include "base/state_angle.h" #include "base/state_block/state_angle.h"
namespace wolf namespace wolf
{ {
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
#define CAPTURE_IMU_H #define CAPTURE_IMU_H
//Wolf includes //Wolf includes
#include "base/IMU_tools.h" #include "base/math/IMU_tools.h"
#include "base/capture/capture_motion.h" #include "base/capture/capture_motion.h"
namespace wolf { namespace wolf {
......
...@@ -8,9 +8,9 @@ class FeatureBase; ...@@ -8,9 +8,9 @@ class FeatureBase;
} }
//Wolf includes //Wolf includes
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/node_base.h" #include "base/common/node_base.h"
#include "base/time_stamp.h" #include "base/common/time_stamp.h"
//std includes //std includes
...@@ -110,9 +110,9 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture ...@@ -110,9 +110,9 @@ class CaptureBase : public NodeBase, public std::enable_shared_from_this<Capture
} }
#include "base/sensor/sensor_base.h" #include "base/sensor/sensor_base.h"
#include "base/frame_base.h" #include "base/frame/frame_base.h"
#include "base/feature/feature_base.h" #include "base/feature/feature_base.h"
#include "base/state_block.h" #include "base/state_block/state_block.h"
namespace wolf{ namespace wolf{
......
...@@ -8,8 +8,8 @@ ...@@ -8,8 +8,8 @@
#ifndef _WOLF_CAPTURE_BUFFER_H_ #ifndef _WOLF_CAPTURE_BUFFER_H_
#define _WOLF_CAPTURE_BUFFER_H_ #define _WOLF_CAPTURE_BUFFER_H_
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/time_stamp.h" #include "base/common/time_stamp.h"
#include <list> #include <list>
#include <algorithm> #include <algorithm>
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
// Wolf includes // Wolf includes
#include "base/capture/capture_base.h" #include "base/capture/capture_base.h"
#include "base/motion_buffer.h" #include "base/processor/motion_buffer.h"
// STL includes // STL includes
#include <list> #include <list>
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
#include "base/capture/capture_motion.h" #include "base/capture/capture_motion.h"
#include "base/rotations.h" #include "base/math/rotations.h"
namespace wolf namespace wolf
{ {
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
#include "base/capture/capture_motion.h" #include "base/capture/capture_motion.h"
#include "base/rotations.h" #include "base/math/rotations.h"
namespace wolf namespace wolf
{ {
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
#define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_ #define TRUNK_SRC_COST_FUNCTION_WRAPPER_H_
// WOLF // WOLF
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/factor/factor_analytic.h" #include "base/factor/factor_analytic.h"
// CERES // CERES
......
...@@ -7,7 +7,7 @@ class LocalParametrizationBase; ...@@ -7,7 +7,7 @@ class LocalParametrizationBase;
} }
//Ceres includes //Ceres includes
#include "base/wolf.h" #include "base/common/wolf.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"
namespace wolf { namespace wolf {
...@@ -38,7 +38,7 @@ using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapp ...@@ -38,7 +38,7 @@ using LocalParametrizationWrapperPtr = std::shared_ptr<LocalParametrizationWrapp
} // namespace wolf } // namespace wolf
#include "base/local_parametrization_base.h" #include "base/state_block/local_parametrization_base.h"
namespace wolf { namespace wolf {
......
...@@ -2,8 +2,8 @@ ...@@ -2,8 +2,8 @@
#define SOLVER_MANAGER_H_ #define SOLVER_MANAGER_H_
//wolf includes //wolf includes
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/state_block.h" #include "base/state_block/state_block.h"
#include "base/factor/factor_base.h" #include "base/factor/factor_base.h"
namespace wolf { namespace wolf {
......
...@@ -9,7 +9,7 @@ ...@@ -9,7 +9,7 @@
#define FACTORY_H_ #define FACTORY_H_
// wolf // wolf
#include "base/wolf.h" #include "base/common/wolf.h"
// std // std
#include <string> #include <string>
...@@ -347,7 +347,7 @@ inline std::string LandmarkFactory::getClass() ...@@ -347,7 +347,7 @@ inline std::string LandmarkFactory::getClass()
// Frames // Frames
class TimeStamp; class TimeStamp;
} // namespace wolf } // namespace wolf
#include "base/frame_base.h" #include "base/frame/frame_base.h"
namespace wolf{ namespace wolf{
typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory; typedef Factory<FrameBase, const FrameType&, const TimeStamp&, const Eigen::VectorXs&> FrameFactory;
template<> template<>
......
...@@ -2,7 +2,7 @@ ...@@ -2,7 +2,7 @@
#define NODE_BASE_H_ #define NODE_BASE_H_
// Wolf includes // Wolf includes
#include "base/wolf.h" #include "base/common/wolf.h"
namespace wolf { namespace wolf {
......
...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
#define TIME_STAMP_H_ #define TIME_STAMP_H_
//wolf includes //wolf includes
#include "base/wolf.h" #include "base/common/wolf.h"
//C, std //C, std
#include <sys/time.h> #include <sys/time.h>
......
...@@ -10,7 +10,7 @@ ...@@ -10,7 +10,7 @@
// Enable project-specific definitions and macros // Enable project-specific definitions and macros
#include "internal/config.h" #include "internal/config.h"
#include "base/logging.h" #include "base/utils/logging.h"
//includes from Eigen lib //includes from Eigen lib
#include <Eigen/Dense> #include <Eigen/Dense>
......
...@@ -6,7 +6,7 @@ ...@@ -6,7 +6,7 @@
#include "base/landmark/landmark_AHP.h" #include "base/landmark/landmark_AHP.h"
#include "base/sensor/sensor_camera.h" #include "base/sensor/sensor_camera.h"
//#include "base/feature/feature_point_image.h" //#include "base/feature/feature_point_image.h"
#include "base/pinhole_tools.h" #include "base/math/pinhole_tools.h"
#include <iomanip> //setprecision #include <iomanip> //setprecision
......
...@@ -3,9 +3,9 @@ ...@@ -3,9 +3,9 @@
#define FACTOR_GPS_2D_H_ #define FACTOR_GPS_2D_H_
//Wolf includes //Wolf includes
#include "base/wolf.h" #include "base/common/wolf.h"
#include "base/factor/factor_autodiff.h" #include "base/factor/factor_autodiff.h"
#include "base/frame_base.h" #include "base/frame/frame_base.h"
namespace wolf { namespace wolf {
......
...@@ -5,7 +5,7 @@ ...@@ -5,7 +5,7 @@
#include "base/feature/feature_IMU.h" #include "base/feature/feature_IMU.h"
#include "base/sensor/sensor_IMU.h" #include "base/sensor/sensor_IMU.h"
#include "base/factor/factor_autodiff.h" #include "base/factor/factor_autodiff.h"
#include "base/rotations.h" #include "base/math/rotations.h"
//Eigen include //Eigen include
......
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
//Wolf includes //Wolf includes
#include "base/factor/factor_base.h" #include "base/factor/factor_base.h"
#include "base/state_block.h" #include "base/state_block/state_block.h"
// CERES // CERES
#include "ceres/jet.h" #include "ceres/jet.h"
......