Rename

CMakeLists.txt

@@ -22,7 +22,7 @@ find_package(catkin REQUIRED COMPONENTS
 # find_package(Ceres REQUIRED)
 # find_package(Eigen3 REQUIRED)
 find_package(wolf REQUIRED)
-find_package(wolfIMU REQUIRED)
+find_package(wolfimu REQUIRED)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -125,7 +125,7 @@ include_directories(
     include
   ${EIGEN_INCLUDE_DIRS}
   ${wolf_INCLUDE_DIRS}
-  ${wolfIMU_INCLUDE_DIRS}
+  ${wolfimu_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
   ${CERES_INCLUDE_DIRS}
 )
@@ -134,7 +134,7 @@ include_directories(
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/wolf_ros.cpp
 # )
-add_library(wolf_subscriber_IMU src/wolf_subscriber_imu.cpp)
+add_library(subscriber_imu src/subscriber_imu.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -158,9 +158,9 @@ add_library(wolf_subscriber_IMU src/wolf_subscriber_imu.cpp)
 #add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_IMU 
+target_link_libraries(subscriber_imu
 					  ${wolf_LIBRARIES} 
-					  ${wolfIMU_LIBRARIES} 
+					  ${wolfimu_LIBRARIES}
 					  ${sensor_msgs_LIBRARIES}
 					  )
 

include/wolf_subscriber_imu.h → include/subscriber_imu.h

@@ -5,8 +5,8 @@
 #include <core/common/wolf.h>
 #include <core/problem/problem.h>
 #include <core/utils/params_server.hpp>
-#include <IMU/capture/capture_IMU.h>
-#include <IMU/sensor/sensor_IMU.h>
+#include <imu/capture/capture_imu.h>
+#include <imu/sensor/sensor_imu.h>
 
 /**************************
  *      ROS includes      *
@@ -24,21 +24,21 @@
 /**************************
  *    WOLF-ROS includes   *
  **************************/
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 
 using namespace wolf;
 
-class WolfSubscriberImu : public WolfSubscriber
+class SubscriberImu : public Subscriber
 {
     public:
         // Constructor
-        WolfSubscriberImu(const SensorBasePtr& sensor_ptr);
+        SubscriberImu(const SensorBasePtr& sensor_ptr);
 
         virtual void initSubscriber(ros::NodeHandle& nh, const std::string& topic);
 
         void callback(const sensor_msgs::Imu::ConstPtr& msg);
 
-        static std::shared_ptr<WolfSubscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
+        static std::shared_ptr<Subscriber> create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr);
 };
-WOLF_REGISTER_SUBSCRIBER(WolfSubscriberImu)
+WOLF_REGISTER_SUBSCRIBER(SubscriberImu)

src/wolf_subscriber_imu.cpp → src/subscriber_imu.cpp

-#include "../include/wolf_subscriber_imu.h"
+#include "../include/subscriber_imu.h"
 
 using namespace wolf;
 
 // Constructor
-WolfSubscriberImu::WolfSubscriberImu(const SensorBasePtr& sensor_ptr) :
-        WolfSubscriber(sensor_ptr)
+SubscriberImu::SubscriberImu(const SensorBasePtr& sensor_ptr) :
+        Subscriber(sensor_ptr)
 {
-    assert(std::dynamic_pointer_cast<SensorIMU>(sensor_ptr) != nullptr);
+    assert(std::dynamic_pointer_cast<SensorImu>(sensor_ptr) != nullptr);
 }
 
-void WolfSubscriberImu::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
+void SubscriberImu::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic, 1, &WolfSubscriberImu::callback, this);
+    sub_     = nh.subscribe(topic, 1, &SubscriberImu::callback, this);
 }
 
-void WolfSubscriberImu::callback(const sensor_msgs::Imu::ConstPtr& msg)
+void SubscriberImu::callback(const sensor_msgs::Imu::ConstPtr& msg)
 {
-    ROS_INFO("callback IMU!");
+    ROS_INFO("callback Imu!");
     Eigen::Vector6d data;
     data << msg->linear_acceleration.x,
             msg->linear_acceleration.y,
@@ -30,19 +30,19 @@ void WolfSubscriberImu::callback(const sensor_msgs::Imu::ConstPtr& msg)
 
     // if covariance not filled
     if (cov.topLeftCorner<3,3>().isApprox(Eigen::Matrix3d::Zero(),1e-9))
-        cov.topLeftCorner<3,3>() = std::pow(std::static_pointer_cast<SensorIMU>(sensor_ptr_)->getAccelNoise(),2.0)*Eigen::Matrix3d::Identity();
+        cov.topLeftCorner<3,3>() = std::pow(std::static_pointer_cast<SensorImu>(sensor_ptr_)->getAccelNoise(),2.0)*Eigen::Matrix3d::Identity();
 
     if (cov.bottomRightCorner<3,3>().isApprox(Eigen::Matrix3d::Zero(),1e-9))
-        cov.bottomRightCorner<3,3>() = std::pow(std::static_pointer_cast<SensorIMU>(sensor_ptr_)->getGyroNoise(),2.0)*Eigen::Matrix3d::Identity();
+        cov.bottomRightCorner<3,3>() = std::pow(std::static_pointer_cast<SensorImu>(sensor_ptr_)->getGyroNoise(),2.0)*Eigen::Matrix3d::Identity();
 
-    CaptureIMUPtr new_capture = std::make_shared<CaptureIMU>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
+    CaptureImuPtr new_capture = std::make_shared<CaptureImu>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
                                                              sensor_ptr_,
                                                              data,
                                                              cov);
     new_capture->process();
 }
 
-std::shared_ptr<WolfSubscriber> WolfSubscriberImu::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberImu::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
-    return std::make_shared<WolfSubscriberImu>(_sensor_ptr);
+    return std::make_shared<SubscriberImu>(_sensor_ptr);
 }