From 4349887c88f60fa9001a87c2dfbaefe3205ff13b Mon Sep 17 00:00:00 2001
From: jcasals <jcasals@iri.upc.edu>
Date: Thu, 12 Mar 2020 16:10:14 +0100
Subject: [PATCH] WIP

---
 CMakeLists.txt                                | 14 ++++++------
 ...oud_publisher.h => pointcloud_publisher.h} | 14 ++++++------
 ...lf_scan_visualizer.h => scan_visualizer.h} | 14 ++++++------
 ...scriber_laser2D.h => subscriber_laser2D.h} |  9 +++++---
 ...publisher.cpp => pointcloud_publisher.cpp} | 20 ++++++++---------
 ...can_visualizer.cpp => scan_visualizer.cpp} | 22 +++++++++----------
 ...ber_laser2D.cpp => subscriber_laser2D.cpp} |  6 ++---
 7 files changed, 51 insertions(+), 48 deletions(-)
 rename include/{wolf_pointcloud_publisher.h => pointcloud_publisher.h} (73%)
 rename include/{wolf_scan_visualizer.h => scan_visualizer.h} (78%)
 rename include/{wolf_subscriber_laser2D.h => subscriber_laser2D.h} (82%)
 rename src/{wolf_pointcloud_publisher.cpp => pointcloud_publisher.cpp} (91%)
 rename src/{wolf_scan_visualizer.cpp => scan_visualizer.cpp} (83%)
 rename src/{wolf_subscriber_laser2D.cpp => subscriber_laser2D.cpp} (94%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 559f58c..fd25483 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,9 +137,9 @@ include_directories(
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/wolf_ros.cpp
 # )
-add_library(wolf_subscriber_laser2D src/wolf_subscriber_laser2D.cpp)
-add_library(wolf_scan_visualizer src/wolf_scan_visualizer.cpp)
-add_library(wolf_pointcloud_publisher src/wolf_pointcloud_publisher.cpp)
+add_library(subscriber_laser2D src/subscriber_laser2D.cpp)
+add_library(scan_visualizer src/scan_visualizer.cpp)
+add_library(pointcloud_publisher src/pointcloud_publisher.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
@@ -163,19 +163,19 @@ add_library(wolf_pointcloud_publisher src/wolf_pointcloud_publisher.cpp)
 #add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(wolf_subscriber_laser2D 
+target_link_libraries(subscriber_laser2D
             ${wolf_LIBRARIES}
             ${wolflaser_LIBRARIES}
             )
 Message("wolfroslibraries: ${wolf_ros_LIBRARIES}")
-target_link_libraries(wolf_scan_visualizer
+target_link_libraries(scan_visualizer
             ${wolf_LIBRARIES}
             ${wolflaser_LIBRARIES}
             ${catkin_LIBRARIES}
             # /home/jvallve/code/iri_ws/devel/lib/libwolf_ros_visualizer.so
-            /home/jcasals/catkin_ws/devel/lib/libwolf_visualizer.so
+            /home/jcasals/catkin_ws/devel/lib/libvisualizer.so
             )
-target_link_libraries(wolf_pointcloud_publisher
+target_link_libraries(pointcloud_publisher
             ${wolf_LIBRARIES}
             ${wolflaser_LIBRARIES}
             ${catkin_LIBRARIES}
diff --git a/include/wolf_pointcloud_publisher.h b/include/pointcloud_publisher.h
similarity index 73%
rename from include/wolf_pointcloud_publisher.h
rename to include/pointcloud_publisher.h
index 84c45d1..832abea 100644
--- a/include/wolf_pointcloud_publisher.h
+++ b/include/pointcloud_publisher.h
@@ -1,12 +1,12 @@
-#ifndef WOLF_POINTCLOUD_PUBLISHER_H
-#define WOLF_POINTCLOUD_PUBLISHER_H
+#ifndef POINTCLOUD_PUBLISHER_H
+#define POINTCLOUD_PUBLISHER_H
 /**************************
  *      WOLF includes     *
  **************************/
 #include <core/common/wolf.h>
 #include <core/problem/problem.h>
 
-#include "wolf_publisher.h"
+#include "publisher.h"
 #include "publisher_factory.h"
 
 /**************************
@@ -18,17 +18,17 @@
 
 using namespace wolf;
 
-class WolfPointcloudPublisher: public WolfPublisher
+class PointcloudPublisher: public Publisher
 {
     int max_frames_;
 public:
-    WolfPointcloudPublisher();
-    virtual ~WolfPointcloudPublisher(){};
+    PointcloudPublisher();
+    virtual ~PointcloudPublisher(){};
     void initialize(ros::NodeHandle &nh, const std::string& topic) override;
     pcl::PointCloud<pcl::PointXYZRGB> buildPointCloud(const ProblemPtr);
     pcl::PointCloud<pcl::PointXYZRGB> buildPointCloudWithMeasurements(const ProblemPtr);
     void publishPointCloud(const ProblemPtr);
     void publish(const ProblemPtr problem) override;
-    static std::shared_ptr<WolfPublisher> create();
+    static std::shared_ptr<Publisher> create();
 };
 #endif
diff --git a/include/wolf_scan_visualizer.h b/include/scan_visualizer.h
similarity index 78%
rename from include/wolf_scan_visualizer.h
rename to include/scan_visualizer.h
index 33e0c93..dc7e2ec 100644
--- a/include/wolf_scan_visualizer.h
+++ b/include/scan_visualizer.h
@@ -1,5 +1,5 @@
-#ifndef WOLF_SCAN_VISUALIZER_H
-#define WOLF_SCAN_VISUALIZER_H
+#ifndef SCAN_VISUALIZER_H
+#define SCAN_VISUALIZER_H
 /**************************
  *      ROS includes      *
  **************************/
@@ -11,7 +11,7 @@
 #include <core/common/wolf.h>
 #include <core/problem/problem.h>
 
-#include <wolf_visualizer.h>
+#include <visualizer.h>
 #include <visualizer_factory.h>
 
 /**************************
@@ -23,17 +23,17 @@
 
 using namespace wolf;
 
-class WolfScanVisualizer: public WolfVisualizer
+class ScanVisualizer: public Visualizer
 {
     int max_frames_;
 public:
-    WolfScanVisualizer();
-    virtual ~WolfScanVisualizer(){};
+    ScanVisualizer();
+    virtual ~ScanVisualizer(){};
     void initialize(ros::NodeHandle &nh) override;
     void visualize(const ProblemPtr problem) override;
     virtual void fillFactorMarker(FactorBaseConstPtr          fac,
                                   visualization_msgs::Marker& fac_marker,
                                   visualization_msgs::Marker& fac_text_marker) override;
-    static std::shared_ptr<WolfVisualizer> create();
+    static std::shared_ptr<Visualizer> create();
 };
 #endif
diff --git a/include/wolf_subscriber_laser2D.h b/include/subscriber_laser2D.h
similarity index 82%
rename from include/wolf_subscriber_laser2D.h
rename to include/subscriber_laser2D.h
index 10fec1b..f32a9a5 100644
--- a/include/wolf_subscriber_laser2D.h
+++ b/include/subscriber_laser2D.h
@@ -1,3 +1,5 @@
+#ifndef SUBSCRIBER_LASER_2D_H
+#define SUBSCRIBER_LASER_2D_H
 /**************************
  *      WOLF includes     *
  **************************/
@@ -32,12 +34,12 @@
 #include <iomanip>
 #include <queue>
 
-#include "wolf_subscriber.h"
+#include "subscriber.h"
 #include "subscriber_factory.h"
 
 namespace wolf
 {
-class SubscriberLaser2D : public WolfSubscriber
+class SubscriberLaser2D : public Subscriber
 {
     protected:
         bool laser_intrinsics_set_;
@@ -50,8 +52,9 @@ class SubscriberLaser2D : public WolfSubscriber
 
         void callback(const sensor_msgs::LaserScan::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(SubscriberLaser2D)
 }
+#endif
diff --git a/src/wolf_pointcloud_publisher.cpp b/src/pointcloud_publisher.cpp
similarity index 91%
rename from src/wolf_pointcloud_publisher.cpp
rename to src/pointcloud_publisher.cpp
index bbe76a7..8f6300b 100644
--- a/src/wolf_pointcloud_publisher.cpp
+++ b/src/pointcloud_publisher.cpp
@@ -1,4 +1,4 @@
-#include "wolf_pointcloud_publisher.h"
+#include "pointcloud_publisher.h"
 #include "Eigen/src/Geometry/AngleAxis.h"
 #include "Eigen/src/Geometry/Transform.h"
 #include "core/common/wolf.h"
@@ -25,16 +25,16 @@
  **************************/
 #include <laser_geometry/laser_geometry.h>
 
-WolfPointcloudPublisher::WolfPointcloudPublisher() :
-    WolfPublisher()
+PointcloudPublisher::PointcloudPublisher() :
+    Publisher()
 {
 }
-void WolfPointcloudPublisher::initialize(ros::NodeHandle& nh, const std::string& topic)
+void PointcloudPublisher::initialize(ros::NodeHandle& nh, const std::string& topic)
 {
     publisher_ = nh.advertise<sensor_msgs::PointCloud2>(topic, 1);
     nh.param<int>("num_frames_visualize", max_frames_, 2);
 }
-void WolfPointcloudPublisher::publish(const ProblemPtr _problem)
+void PointcloudPublisher::publish(const ProblemPtr _problem)
 {
     this->publishPointCloud(_problem);
 }
@@ -65,7 +65,7 @@ void transformPointCloudFromLaserScan(pcl::PointCloud<pcl::PointXYZ>& cloud,
 
     pcl::transformPointCloud(cloud, cloud, transform);
 }
-pcl::PointCloud<pcl::PointXYZRGB> WolfPointcloudPublisher::buildPointCloud(const ProblemPtr problem)
+pcl::PointCloud<pcl::PointXYZRGB> PointcloudPublisher::buildPointCloud(const ProblemPtr problem)
 {
     std::ofstream                  file;
     pcl::PointCloud<pcl::PointXYZRGB> agg_cloud;
@@ -155,7 +155,7 @@ pcl::PointCloud<pcl::PointXYZRGB> WolfPointcloudPublisher::buildPointCloud(const
     }
     return agg_cloud;
 }
-void WolfPointcloudPublisher::publishPointCloud(const ProblemPtr problem)
+void PointcloudPublisher::publishPointCloud(const ProblemPtr problem)
 {
     auto                     pcl = this->buildPointCloud(problem);
     sensor_msgs::PointCloud2 msg;
@@ -165,8 +165,8 @@ void WolfPointcloudPublisher::publishPointCloud(const ProblemPtr problem)
     this->publisher_.publish(msg);
 }
 
-std::shared_ptr<WolfPublisher> WolfPointcloudPublisher::create()
+std::shared_ptr<Publisher> PointcloudPublisher::create()
 {
-    return std::make_shared<WolfPointcloudPublisher>();
+    return std::make_shared<PointcloudPublisher>();
 }
-WOLF_REGISTER_PUBLISHER(WolfPointcloudPublisher)
+WOLF_REGISTER_PUBLISHER(PointcloudPublisher)
diff --git a/src/wolf_scan_visualizer.cpp b/src/scan_visualizer.cpp
similarity index 83%
rename from src/wolf_scan_visualizer.cpp
rename to src/scan_visualizer.cpp
index 0fe84da..813b666 100644
--- a/src/wolf_scan_visualizer.cpp
+++ b/src/scan_visualizer.cpp
@@ -1,4 +1,4 @@
-#include "wolf_scan_visualizer.h"
+#include "scan_visualizer.h"
 #include "Eigen/src/Geometry/AngleAxis.h"
 #include "Eigen/src/Geometry/Transform.h"
 #include "core/common/wolf.h"
@@ -25,24 +25,24 @@
  **************************/
 #include <laser_geometry/laser_geometry.h>
 
-WolfScanVisualizer::WolfScanVisualizer() : WolfVisualizer()
+ScanVisualizer::ScanVisualizer() : Visualizer()
 {
 }
-void WolfScanVisualizer::initialize(ros::NodeHandle& nh)
+void ScanVisualizer::initialize(ros::NodeHandle& nh)
 {
-    WolfVisualizer::initialize(nh);
+    Visualizer::initialize(nh);
 
     nh.param<int>("num_frames_visualize", max_frames_, 2);
 }
-void WolfScanVisualizer::visualize(const ProblemPtr _problem)
+void ScanVisualizer::visualize(const ProblemPtr _problem)
 {
-    WolfVisualizer::visualize(_problem);
+    Visualizer::visualize(_problem);
 }
-void WolfScanVisualizer::fillFactorMarker(FactorBaseConstPtr          fac,
+void ScanVisualizer::fillFactorMarker(FactorBaseConstPtr          fac,
                                              visualization_msgs::Marker& fac_marker,
                                              visualization_msgs::Marker& fac_text_marker)
 {
-    WolfVisualizer::fillFactorMarker(fac, fac_marker, fac_text_marker);
+    Visualizer::fillFactorMarker(fac, fac_marker, fac_text_marker);
     if (fac->getFeature()->getType() == "FeatureIcpAlign" and
         (fac->getType() == "FactorOdom2D" or fac->getType() == "FactorOdom2DCloseloop"))
     {
@@ -86,8 +86,8 @@ void WolfScanVisualizer::fillFactorMarker(FactorBaseConstPtr          fac,
         fac_text_marker.pose.position.z = fac_text_marker.pose.position.z + 0.25;
     }
 }
-std::shared_ptr<WolfVisualizer> WolfScanVisualizer::create()
+std::shared_ptr<Visualizer> ScanVisualizer::create()
 {
-    return std::make_shared<WolfScanVisualizer>();
+    return std::make_shared<ScanVisualizer>();
 }
-WOLF_REGISTER_VISUALIZER(WolfScanVisualizer)
+WOLF_REGISTER_VISUALIZER(ScanVisualizer)
diff --git a/src/wolf_subscriber_laser2D.cpp b/src/subscriber_laser2D.cpp
similarity index 94%
rename from src/wolf_subscriber_laser2D.cpp
rename to src/subscriber_laser2D.cpp
index c4958cc..5c1b882 100644
--- a/src/wolf_subscriber_laser2D.cpp
+++ b/src/subscriber_laser2D.cpp
@@ -1,10 +1,10 @@
-#include "wolf_subscriber_laser2D.h"
+#include "subscriber_laser2D.h"
 #include <limits>
 
 namespace wolf
 {
 // Constructor
-SubscriberLaser2D::SubscriberLaser2D(const SensorBasePtr& sensor_ptr): WolfSubscriber(sensor_ptr)
+SubscriberLaser2D::SubscriberLaser2D(const SensorBasePtr& sensor_ptr): Subscriber(sensor_ptr)
 {
     laser_intrinsics_set_ = false;
 }
@@ -86,7 +86,7 @@ void SubscriberLaser2D::callback(const sensor_msgs::LaserScan::ConstPtr& msg)
     //     }
 }
 
-std::shared_ptr<WolfSubscriber> SubscriberLaser2D::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
+std::shared_ptr<Subscriber> SubscriberLaser2D::create(const std::string& _unique_name, const ParamsServer& _params, const SensorBasePtr _sensor_ptr)
 {
     return std::make_shared<SubscriberLaser2D>(_sensor_ptr);
 }
-- 
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