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Resolve "CeresManager params/autoconf"

Merged Joan Vallvé Navarro requested to merge 353-ceresmanager-params-autoconf into devel
27 files
+ 372
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@@ -14,13 +14,11 @@
// wolf core includes
#include "../../include/core/ceres_wrapper/solver_ceres.h"
#include "core/common/wolf.h"
#include "core/sensor/sensor_odom_2d.h"
#include "core/processor/processor_odom_2d.h"
#include "core/capture/capture_odom_2d.h"
#include "core/ceres_wrapper/ceres_manager.h"
// hello wolf local includes
#include "sensor_range_bearing.h"
#include "processor_range_bearing.h"
#include "capture_range_bearing.h"
@@ -106,12 +104,11 @@ int main()
// Wolf problem and solver
ProblemPtr problem = Problem::create("PO", 2);
ceres::Solver::Options options;
options.max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
CeresManagerPtr ceres = std::make_shared<CeresManager>(problem, options);
SolverCeresPtr ceres = std::make_shared<SolverCeres>(problem);
ceres.getSolverOptions().max_num_iterations = 1000; // We depart far from solution, need a lot of iterations
// sensor odometer 2d
ParamsSensorOdom2dPtr intrinsics_odo = std::make_shared<ParamsSensorOdom2d>();
ParamsSensorOdom2dPtr intrinsics_odo = std::make_shared<ParamsSensorOdom2d>();
SensorBasePtr sensor_odo = problem->installSensor("SensorOdom2d", "sensor odo", Vector3d(0,0,0), intrinsics_odo);
// processor odometer 2d
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