Renaming odometry_2d (#87)

fuse_models/CMakeLists.txt

@@ -95,8 +95,8 @@ add_library(
     src/acceleration_2d.cpp
     src/imu_2d.cpp
     src/pose_2d/model.cpp
-    src/odometry_2d/model.cpp
-    src/odometry_2d/publisher.cpp
+    src/odometry_2d.cpp
+    src/odometry_2d_publisher.cpp
     src/twist_2d/model.cpp
     src/unicycle_2d/state_kinematic_constraint.cpp
     src/unicycle_2d/ignition.cpp

fuse_models/fuse_plugins.xml

@@ -6,7 +6,7 @@
     </description>
   </class>
 
-  <class type="fuse_models::odometry_2d::Publisher" base_class_type="fuse_core::Publisher">
+  <class type="fuse_models::Odometry2DPublisher" base_class_type="fuse_core::Publisher">
     <description>
     Publisher plugin that publishes a nav_msgs::Odometry message and broadcasts a tf transform for optimized 2D
     state data (combination of Position2DStamped, Orientation2DStamped, VelocityLinear2DStamped, and
@@ -26,7 +26,7 @@
     acceleration constraints from IMU sensor data published by another node
     </description>
   </class>
-  <class type="fuse_models::odometry_2d::Model" base_class_type="fuse_core::SensorModel">
+  <class type="fuse_models::Odometry2D" base_class_type="fuse_core::SensorModel">
     <description>
     An adapter-type sensor that produces pose (relative or absolute) and velocity constraints from sensor data
     published by another node

fuse_models/include/fuse_models/odometry_2d/model.h → fuse_models/include/fuse_models/odometry_2d.h

@@ -31,10 +31,10 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#ifndef FUSE_MODELS_ODOMETRY_2D_MODEL_H
-#define FUSE_MODELS_ODOMETRY_2D_MODEL_H
+#ifndef FUSE_MODELS_ODOMETRY_2D_H
+#define FUSE_MODELS_ODOMETRY_2D_H
 
-#include <fuse_models/parameters/odometry_2d_model_params.h>
+#include <fuse_models/parameters/odometry_2d_params.h>
 
 #include <fuse_core/async_sensor_model.h>
 #include <fuse_core/uuid.h>
@@ -48,9 +48,6 @@
 namespace fuse_models
 {
 
-namespace odometry_2d
-{
-
 /**
  * @brief An adapter-type sensor that produces pose (relative or absolute) and velocity constraints from sensor data
  * published by another node
@@ -62,7 +59,7 @@ namespace odometry_2d
  *   2. Creates 2D velocity variables and constraints.
  *
  * This sensor really just separates out the pose and twist components of the message, and processes them just like the
- * pose_2d::Model and twist_2d::Model classes.
+ * pose_2d::Odometry2D and twist_2d::Odometry2D classes.
  *
  * Parameters:
  *  - device_id (uuid string, default: 00000000-0000-0000-0000-000000000000) The device/robot ID to publish
@@ -79,21 +76,21 @@ namespace odometry_2d
  * Subscribes:
  *  - \p topic (nav_msgs::Odometry) Odometry information at a given timestep
  */
-class Model : public fuse_core::AsyncSensorModel
+class Odometry2D : public fuse_core::AsyncSensorModel
 {
 public:
-  SMART_PTR_DEFINITIONS(Model);
-  using ParameterType = parameters::Odometry2DModelParams;
+  SMART_PTR_DEFINITIONS(Odometry2D);
+  using ParameterType = parameters::Odometry2DParams;
 
   /**
    * @brief Default constructor
    */
-  Model();
+  Odometry2D();
 
   /**
    * @brief Destructor
    */
-  virtual ~Model() = default;
+  virtual ~Odometry2D() = default;
 
   /**
    * @brief Callback for pose messages
@@ -134,8 +131,6 @@ class Model : public fuse_core::AsyncSensorModel
   ros::Subscriber subscriber_;
 };
 
-}  // namespace odometry_2d
-
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_ODOMETRY_2D_MODEL_H
+#endif  // FUSE_MODELS_ODOMETRY_2D_H

fuse_models/include/fuse_models/odometry_2d/publisher.h → fuse_models/include/fuse_models/odometry_2d_publisher.h

@@ -55,11 +55,8 @@
 namespace fuse_models
 {
 
-namespace odometry_2d
-{
-
 /**
- * @class Publisher plugin that publishes a nav_msgs::Odometry message and broadcasts a tf transform for optimized 2D
+ * @class Odometry2DPublisher plugin that publishes a nav_msgs::Odometry message and broadcasts a tf transform for optimized 2D
  * state data (combination of Position2DStamped, Orientation2DStamped, VelocityLinear2DStamped, and
  * VelocityAngular2DStamped).
  *
@@ -92,21 +89,21 @@ namespace odometry_2d
  *  - tf, tf_static (tf2_msgs::TFMessage)  Subscribes to tf data to obtain the requisite odom->base_link transform,
  *                                         but only if the world_frame_id is set to the value of the map_frame_id.
  */
-class Publisher : public fuse_core::AsyncPublisher
+class Odometry2DPublisher : public fuse_core::AsyncPublisher
 {
 public:
-  SMART_PTR_DEFINITIONS(Publisher);
+  SMART_PTR_DEFINITIONS(Odometry2DPublisher);
   using ParameterType = parameters::Odometry2DPublisherParams;
 
   /**
    * @brief Constructor
    */
-  Publisher();
+  Odometry2DPublisher();
 
   /**
    * @brief Destructor
    */
-  virtual ~Publisher() = default;
+  virtual ~Odometry2DPublisher() = default;
 
 protected:
   /**
@@ -192,8 +189,6 @@ class Publisher : public fuse_core::AsyncPublisher
   ros::Timer tf_publish_timer_;
 };
 
-}  // namespace odometry_2d
-
 }  // namespace fuse_models
 
 #endif  // FUSE_MODELS_ODOMETRY_2D_PUBLISHER_H

fuse_models/include/fuse_models/parameters/odometry_2d_model_params.h → fuse_models/include/fuse_models/parameters/odometry_2d_params.h

@@ -31,8 +31,8 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#ifndef FUSE_MODELS_PARAMETERS_ODOMETRY_2D_MODEL_PARAMS_H
-#define FUSE_MODELS_PARAMETERS_ODOMETRY_2D_MODEL_PARAMS_H
+#ifndef FUSE_MODELS_PARAMETERS_ODOMETRY_2D_PARAMS_H
+#define FUSE_MODELS_PARAMETERS_ODOMETRY_2D_PARAMS_H
 
 #include <fuse_models/parameters/parameter_base.h>
 
@@ -53,9 +53,9 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the odometry_2d::Model class
+ * @brief Defines the set of parameters required by the Odometry2D class
  */
-struct Odometry2DModelParams : public ParameterBase
+struct Odometry2DParams : public ParameterBase
 {
   public:
     /**
@@ -94,4 +94,4 @@ struct Odometry2DModelParams : public ParameterBase
 
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_PARAMETERS_ODOMETRY_2D_MODEL_PARAMS_H
+#endif  // FUSE_MODELS_PARAMETERS_ODOMETRY_2D_PARAMS_H

fuse_models/include/fuse_models/parameters/odometry_2d_publisher_params.h

@@ -51,7 +51,7 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the pose_2d::Model class
+ * @brief Defines the set of parameters required by the Odometry2DPublisher class
  */
 struct Odometry2DPublisherParams : public ParameterBase
 {

fuse_models/src/odometry_2d/model.cpp → fuse_models/src/odometry_2d.cpp

@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 #include <fuse_models/common/sensor_proc.h>
-#include <fuse_models/odometry_2d/model.h>
+#include <fuse_models/odometry_2d.h>
 
 #include <fuse_core/transaction.h>
 #include <fuse_core/uuid.h>
@@ -45,22 +45,19 @@
 
 
 // Register this sensor model with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::odometry_2d::Model, fuse_core::SensorModel)
+PLUGINLIB_EXPORT_CLASS(fuse_models::Odometry2D, fuse_core::SensorModel)
 
 namespace fuse_models
 {
 
-namespace odometry_2d
-{
-
-Model::Model() :
+Odometry2D::Odometry2D() :
   fuse_core::AsyncSensorModel(1),
   device_id_(fuse_core::uuid::NIL),
   tf_listener_(tf_buffer_)
 {
 }
 
-void Model::onInit()
+void Odometry2D::onInit()
 {
   // Read settings from the parameter sever
   device_id_ = fuse_variables::loadDeviceId(private_node_handle_);
@@ -77,24 +74,25 @@ void Model::onInit()
   }
 }
 
-void Model::onStart()
+void Odometry2D::onStart()
 {
   if (!params_.position_indices.empty() ||
       !params_.orientation_indices.empty() ||
       !params_.linear_velocity_indices.empty() ||
       !params_.angular_velocity_indices.empty())
   {
     previous_pose_.reset();
-    subscriber_ = node_handle_.subscribe(ros::names::resolve(params_.topic), params_.queue_size, &Model::process, this);
+    subscriber_ =
+      node_handle_.subscribe(ros::names::resolve(params_.topic), params_.queue_size, &Odometry2D::process, this);
   }
 }
 
-void Model::onStop()
+void Odometry2D::onStop()
 {
   subscriber_.shutdown();
 }
 
-void Model::process(const nav_msgs::Odometry::ConstPtr& msg)
+void Odometry2D::process(const nav_msgs::Odometry::ConstPtr& msg)
 {
   // Create a transaction object
   auto transaction = fuse_core::Transaction::make_shared();
@@ -151,6 +149,4 @@ void Model::process(const nav_msgs::Odometry::ConstPtr& msg)
   sendTransaction(transaction);
 }
 
-}  // namespace odometry_2d
-
 }  // namespace fuse_models

fuse_models/src/odometry_2d/publisher.cpp → fuse_models/src/odometry_2d_publisher.cpp

@@ -31,7 +31,7 @@
  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  */
-#include <fuse_models/odometry_2d/publisher.h>
+#include <fuse_models/odometry_2d_publisher.h>
 #include <fuse_models/unicycle_2d/predict.h>
 
 #include <fuse_core/async_publisher.h>
@@ -50,22 +50,19 @@
 #include <vector>
 
 // Register this publisher with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::odometry_2d::Publisher, fuse_core::Publisher)
+PLUGINLIB_EXPORT_CLASS(fuse_models::Odometry2DPublisher, fuse_core::Publisher)
 
 namespace fuse_models
 {
 
-namespace odometry_2d
-{
-
-Publisher::Publisher() :
+Odometry2DPublisher::Odometry2DPublisher() :
   fuse_core::AsyncPublisher(1),
   device_id_(fuse_core::uuid::NIL),
   latest_stamp_(Synchronizer::TIME_ZERO)
 {
 }
 
-void Publisher::onInit()
+void Odometry2DPublisher::onInit()
 {
   // Read settings from the parameter sever
   device_id_ = fuse_variables::loadDeviceId(private_node_handle_);
@@ -81,10 +78,14 @@ void Publisher::onInit()
   odom_pub_ = node_handle_.advertise<nav_msgs::Odometry>(ros::names::resolve(params_.topic), params_.queue_size);
 
   tf_publish_timer_ = node_handle_.createTimer(
-    ros::Duration(1.0 / params_.tf_publish_frequency), &Publisher::tfPublishTimerCallback, this, false, false);
+    ros::Duration(1.0 / params_.tf_publish_frequency),
+    &Odometry2DPublisher::tfPublishTimerCallback,
+    this,
+    false,
+    false);
 }
 
-void Publisher::notifyCallback(
+void Odometry2DPublisher::notifyCallback(
   fuse_core::Transaction::ConstSharedPtr transaction,
   fuse_core::Graph::ConstSharedPtr graph)
 {
@@ -166,20 +167,20 @@ void Publisher::notifyCallback(
   }
 }
 
-void Publisher::onStart()
+void Odometry2DPublisher::onStart()
 {
   synchronizer_ = Synchronizer(device_id_);
   latest_stamp_ = Synchronizer::TIME_ZERO;
   odom_output_ = nav_msgs::Odometry();
   tf_publish_timer_.start();
 }
 
-void Publisher::onStop()
+void Odometry2DPublisher::onStop()
 {
   tf_publish_timer_.stop();
 }
 
-bool Publisher::getState(
+bool Odometry2DPublisher::getState(
   const fuse_core::Graph& graph,
   const ros::Time& stamp,
   const fuse_core::UUID& device_id,
@@ -232,7 +233,7 @@ bool Publisher::getState(
   return true;
 }
 
-void Publisher::tfPublishTimerCallback(const ros::TimerEvent& event)
+void Odometry2DPublisher::tfPublishTimerCallback(const ros::TimerEvent& event)
 {
   if (latest_stamp_ == Synchronizer::TIME_ZERO)
   {
@@ -302,6 +303,4 @@ void Publisher::tfPublishTimerCallback(const ros::TimerEvent& event)
   tf_broadcaster_.sendTransform(trans);
 }
 
-}  // namespace odometry_2d
-
 }  // namespace fuse_models