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Commit e750166f authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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adapted to SolverCeres

parent b4958711
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2 merge requests!11new release,!10new release
......@@ -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
......
......@@ -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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