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Resolve "New data structure for storing stateblocks"

Merged Resolve "New data structure for storing stateblocks"
256-new-data-structure-for-storing-stateblocks into devel
Merged Joan Solà Ortega requested to merge 256-new-data-structure-for-storing-stateblocks into devel
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hello_wolf/hello_wolf.cpp
+ 4
− 4
@@ -112,7 +112,7 @@ int main()
// sensor odometer 2D
IntrinsicsOdom2DPtr intrinsics_odo = std::make_shared<IntrinsicsOdom2D>();
SensorBasePtr sensor_odo = problem->installSensor("ODOM 2D", "sensor odo", Vector3s(0,0,0), intrinsics_odo);
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2D", "sensor odo", Vector3s(0,0,0), intrinsics_odo);
// processor odometer 2D
ProcessorParamsOdom2DPtr params_odo = std::make_shared<ProcessorParamsOdom2D>();
@@ -123,19 +123,19 @@ int main()
params_odo->angle_turned = 999;
params_odo->cov_det = 999;
params_odo->unmeasured_perturbation_std = 0.001;
ProcessorBasePtr processor = problem->installProcessor("ODOM 2D", "processor odo", sensor_odo, params_odo);
ProcessorBasePtr processor = problem->installProcessor("ProcessorOdom2D", "processor odo", sensor_odo, params_odo);
// sensor Range and Bearing
IntrinsicsRangeBearingPtr intrinsics_rb = std::make_shared<IntrinsicsRangeBearing>();
intrinsics_rb->noise_range_metres_std = 0.1;
intrinsics_rb->noise_bearing_degrees_std = 1.0;
SensorBasePtr sensor_rb = problem->installSensor("RANGE BEARING", "sensor RB", Vector3s(1,1,0), intrinsics_rb);
SensorBasePtr sensor_rb = problem->installSensor("SensorRangeBearing", "sensor RB", Vector3s(1,1,0), intrinsics_rb);
// processor Range and Bearing
ProcessorParamsRangeBearingPtr params_rb = std::make_shared<ProcessorParamsRangeBearing>();
params_rb->voting_active = false;
params_rb->time_tolerance = 0.01;
ProcessorBasePtr processor_rb = problem->installProcessor("RANGE BEARING", "processor RB", sensor_rb, params_rb);
ProcessorBasePtr processor_rb = problem->installProcessor("ProcessorRangeBearing", "processor RB", sensor_rb, params_rb);
// initialize
TimeStamp t(0.0); // t : 0.0