From e750166f3d9da49d8df8b11c162a05d06a21ca6f Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Mon, 15 Jun 2020 10:01:21 +0200
Subject: [PATCH] adapted to SolverCeres
---
include/node.h | 9 ++-------
src/node.cpp | 4 ++--
2 files changed, 4 insertions(+), 9 deletions(-)
diff --git a/include/node.h b/include/node.h
index 97d5888..aa55635 100644
--- a/include/node.h
+++ b/include/node.h
@@ -4,6 +4,7 @@
#include <core/common/node_base.h>
#include <core/common/wolf.h>
#include <core/capture/capture_odom_2d.h>
+#include <core/ceres_wrapper/solver_ceres.h>
#include <core/sensor/sensor_odom_2d.h>
#include <core/processor/processor_odom_2d.h>
#include <core/problem/problem.h>
@@ -15,12 +16,6 @@
/**************************
* CERES includes *
**************************/
-#include "core/ceres_wrapper/ceres_manager.h"
-//#include "glog/logging.h"
-
-/**************************
- * ROS includes *
- **************************/
#include <ros/ros.h>
#include <ros/package.h>
#include <nav_msgs/Odometry.h>
@@ -70,7 +65,7 @@ class WolfRosNode
protected:
// solver
- SolverManagerPtr solver_manager_ptr_;
+ SolverManagerPtr solver_;
SolverManager::ReportVerbosity solver_verbose_;
// transforms
diff --git a/src/node.cpp b/src/node.cpp
index c7f4da4..dfd0557 100644
--- a/src/node.cpp
+++ b/src/node.cpp
@@ -38,7 +38,7 @@ WolfRosNode::WolfRosNode()
// SOLVER
ROS_INFO("Creating solver...");
- solver_manager_ptr_ = std::static_pointer_cast<CeresManager>(FactorySolver::create("CeresManager", problem_ptr_, server));
+ solver_ = std::static_pointer_cast<SolverCeres>(FactorySolver::create("SolverCeres", problem_ptr_, server));
int solver_verbose_int;
solver_period_ = server.getParam<double>("solver/period");
solver_verbose_int = server.getParam<int>("solver/verbose");
@@ -93,7 +93,7 @@ void WolfRosNode::solve()
if (solver_verbose_ != SolverManager::ReportVerbosity::QUIET)
ROS_INFO("================ solve ==================");
- std::string report = solver_manager_ptr_->solve(solver_verbose_);
+ std::string report = solver_->solve(solver_verbose_);
if (!report.empty())
std::cout << report << std::endl;
}
--
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