Strange things in WOLF core?

I just saw these classes and files in core. They seem very odd to me at first glance.

What are they?

Some of these might be able to get deleted. Others will need documentation.

@joanvallve ?

EDIT JS 23 jan 2022

Keep

• LandmarkMatch
• check_log.h
• graph_search.h

Remove:

• ProcessorLogging
• eigen_predicates.h
• make_unique.h

Rename:

• SensorModel --> SensorMotionModel
• ProcessorFixWingModel --> ProcessorFixedWingModel

changed milestone to %Publish WOLF

added To Do (release) question labels

changed title from Processor Fix Wing Model in WOLF core? to Processor Fix Wing Model and other strange things in WOLF core?

changed the description

I recently added this class ProcessorFixWingModel and the corresponding SensorModel. This processor emplaces factors to constraint the motion according to a motion model (fix wing). I don't understand the problem...

LandmarkMatch is a struct used by the ProcessorTrackerLandmark to store the matches between landmarks and features. It is analogous to FeatureMatch. If you prefer, both can be moved to the processor folder...

graph_search.h implements a search on the graph but it is not used anywhere (was planned to be used in loop closures heuristics)

I think seeing your explanation that SensorMotionModel would be a better name.

I was considering SensorDynamicModel as well but was not that generic.. SensorMotionModel seems a better name definitely.

It is odd to have a Fix Wing model in WOLF core, no? It´s like a very specific thing

It´s not that is bad, it´s that I did not understand it. There are other things in WOLF which I don't know what they are, maybe you know. It´s in the list above.

Since we organized the plugins by sensors, fix wing seemed to me not related to anyone (GNSS? IMU?...)

marked the checklist item make_unique.h as completed

marked the checklist item make_unique.h as incomplete

marked the checklist item ProcessorFixWing as completed

marked the checklist item SensorModel as completed

marked the checklist item graph_search.h as completed

marked the checklist item LandmarkMatch as completed

I marked the ones that I'm sure they have to be in core. I don't know about the others, actually, I don't know what are they.

changed title from Processor Fix Wing Model and other strange things in WOLF core? to Strange things in WOLF core?

can we just try to remove the items not marked and see what happens?

Yes it sounds appropriate

created merge request !437 (merged) to address this issue

mentioned in merge request !437 (merged)