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Remove constructors accepting state blocks as API

Merged Joan Solà Ortega requested to merge feature/remove_constructors_with_stateblocks into devel
13 files
+ 30
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@@ -24,7 +24,10 @@ TEST(CaptureAutodiff, ConstructorOdom2d)
FrameBasePtr fr2_ptr(std::make_shared<FrameBase>(TimeStamp(0), std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1)));
// SENSOR
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1), 0.1, 0.1);
IntrinsicsOdom2D intrinsics_odo;
intrinsics_odo.k_disp_to_disp = 0.1;
intrinsics_odo.k_rot_to_rot = 0.1;
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(Vector3s::Zero(), intrinsics_odo);
// CAPTURE
CaptureVoidPtr capture_ptr = std::make_shared<CaptureVoid>(TimeStamp(0), sensor_ptr);
@@ -56,7 +59,10 @@ TEST(CaptureAutodiff, ResidualOdom2d)
FrameBasePtr fr2_ptr(std::make_shared<FrameBase>(TimeStamp(0), std::make_shared<StateBlock>(f2_pose.head<2>()), std::make_shared<StateBlock>(f2_pose.tail<1>())));
// SENSOR
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1), 0.1, 0.1);
IntrinsicsOdom2D intrinsics_odo;
intrinsics_odo.k_disp_to_disp = 0.1;
intrinsics_odo.k_rot_to_rot = 0.1;
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(Vector3s::Zero(), intrinsics_odo);
// CAPTURE
CaptureVoidPtr capture_ptr = std::make_shared<CaptureVoid>(TimeStamp(0), sensor_ptr);
@@ -100,7 +106,10 @@ TEST(CaptureAutodiff, JacobianOdom2d)
FrameBasePtr fr2_ptr(std::make_shared<FrameBase>(TimeStamp(0), std::make_shared<StateBlock>(f2_pose.head<2>()), std::make_shared<StateBlock>(f2_pose.tail<1>())));
// SENSOR
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1), 0.1, 0.1);
IntrinsicsOdom2D intrinsics_odo;
intrinsics_odo.k_disp_to_disp = 0.1;
intrinsics_odo.k_rot_to_rot = 0.1;
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(Vector3s::Zero(), intrinsics_odo);
// CAPTURE
CaptureVoidPtr capture_ptr = std::make_shared<CaptureVoid>(TimeStamp(0), sensor_ptr);
@@ -179,7 +188,10 @@ TEST(CaptureAutodiff, AutodiffVsAnalytic)
FrameBasePtr fr2_ptr(std::make_shared<FrameBase>(TimeStamp(0), std::make_shared<StateBlock>(f2_pose.head<2>()), std::make_shared<StateBlock>(f2_pose.tail<1>())));
// SENSOR
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(std::make_shared<StateBlock>(2), std::make_shared<StateBlock>(1), 0.1, 0.1);
IntrinsicsOdom2D intrinsics_odo;
intrinsics_odo.k_disp_to_disp = 0.1;
intrinsics_odo.k_rot_to_rot = 0.1;
SensorOdom2DPtr sensor_ptr = std::make_shared<SensorOdom2D>(Vector3s::Zero(), intrinsics_odo);
// CAPTURE
CaptureVoidPtr capture_ptr = std::make_shared<CaptureVoid>(TimeStamp(0), sensor_ptr);
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