Renaming pose_2d

locusrobotics · Aug 14, 2019 · 9421063 · 9421063
1 parent b7d3be8
commit 9421063
Show file tree

Hide file tree

Showing 5 changed files with 25 additions and 34 deletions.
diff --git a/fuse_models/CMakeLists.txt b/fuse_models/CMakeLists.txt
@@ -94,9 +94,9 @@ add_library(
   ${PROJECT_NAME}
     src/acceleration_2d/model.cpp
     src/imu_2d/model.cpp
-    src/pose_2d/model.cpp
     src/odometry_2d/model.cpp
     src/odometry_2d/publisher.cpp
+    src/pose_2d.cpp
     src/twist_2d/model.cpp
     src/unicycle_2d/state_kinematic_constraint.cpp
     src/unicycle_2d/ignition.cpp

diff --git a/fuse_models/fuse_plugins.xml b/fuse_models/fuse_plugins.xml
@@ -32,7 +32,7 @@
     published by another node
     </description>
   </class>
-  <class type="fuse_models::pose_2d::Model" base_class_type="fuse_core::SensorModel">
+  <class type="fuse_models::Pose2D" base_class_type="fuse_core::SensorModel">
     <description>
     An adapter-type sensor that produces absolute or relative pose constraints from information published by
     another node

diff --git a/..._models/parameters/pose_2d_model_params.h → ...e/fuse_models/parameters/pose_2d_params.h b/..._models/parameters/pose_2d_model_params.h → ...e/fuse_models/parameters/pose_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_POSE_2D_MODEL_PARAMS_H
-#define FUSE_MODELS_PARAMETERS_POSE_2D_MODEL_PARAMS_H
+#ifndef FUSE_MODELS_PARAMETERS_POSE_2D_PARAMS_H
+#define FUSE_MODELS_PARAMETERS_POSE_2D_PARAMS_H
 
 #include <fuse_models/parameters/parameter_base.h>
 
@@ -51,9 +51,9 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the pose_2d::Model class
+ * @brief Defines the set of parameters required by the Pose2D class
  */
-struct Pose2DModelParams : public ParameterBase
+struct Pose2DParams : public ParameterBase
 {
   public:
     /**
@@ -84,4 +84,4 @@ struct Pose2DModelParams : public ParameterBase
 
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_PARAMETERS_POSE_2D_MODEL_PARAMS_H
+#endif  // FUSE_MODELS_PARAMETERS_POSE_2D_PARAMS_H
diff --git a/...odels/include/fuse_models/pose_2d/model.h → fuse_models/include/fuse_models/pose_2d.h b/...odels/include/fuse_models/pose_2d/model.h → fuse_models/include/fuse_models/pose_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_POSE_2D_MODEL_H
-#define FUSE_MODELS_POSE_2D_MODEL_H
+#ifndef FUSE_MODELS_POSE_2D_H
+#define FUSE_MODELS_POSE_2D_H
 
-#include <fuse_models/parameters/pose_2d_model_params.h>
+#include <fuse_models/parameters/pose_2d_params.h>
 
 #include <fuse_core/async_sensor_model.h>
 #include <fuse_core/uuid.h>
@@ -47,9 +47,6 @@
 namespace fuse_models
 {
 
-namespace pose_2d
-{
-
 /**
  * @brief An adapter-type sensor that produces absolute or relative pose constraints from information published by
  * another node.
@@ -70,21 +67,21 @@ namespace pose_2d
  * Subscribes:
  *  - \p topic (geometry_msgs::PoseWithCovarianceStamped) Absolute pose information at a given timestamp
  */
-class Model : public fuse_core::AsyncSensorModel
+class Pose2D : public fuse_core::AsyncSensorModel
 {
 public:
-  SMART_PTR_DEFINITIONS(Model);
-  using ParameterType = parameters::Pose2DModelParams;
+  SMART_PTR_DEFINITIONS(Pose2D);
+  using ParameterType = parameters::Pose2DParams;
 
   /**
    * @brief Default constructor
    */
-  Model();
+  Pose2D();
 
   /**
    * @brief Destructor
    */
-  virtual ~Model() = default;
+  virtual ~Pose2D() = default;
 
   /**
    * @brief Callback for pose messages
@@ -125,8 +122,6 @@ class Model : public fuse_core::AsyncSensorModel
   ros::Subscriber subscriber_;
 };
 
-}  // namespace pose_2d
-
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_POSE_2D_MODEL_H
+#endif  // FUSE_MODELS_POSE_2D_H
diff --git a/fuse_models/src/pose_2d/model.cpp → fuse_models/src/pose_2d.cpp b/fuse_models/src/pose_2d/model.cpp → fuse_models/src/pose_2d.cpp
@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 #include <fuse_models/common/sensor_proc.h>
-#include <fuse_models/pose_2d/model.h>
+#include <fuse_models/pose_2d.h>
 
 #include <fuse_core/transaction.h>
 #include <fuse_core/uuid.h>
@@ -43,22 +43,19 @@
 
 
 // Register this sensor model with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::pose_2d::Model, fuse_core::SensorModel)
+PLUGINLIB_EXPORT_CLASS(fuse_models::Pose2D, fuse_core::SensorModel)
 
 namespace fuse_models
 {
 
-namespace pose_2d
-{
-
-Model::Model() :
+Pose2D::Pose2D() :
   fuse_core::AsyncSensorModel(1),
   device_id_(fuse_core::uuid::NIL),
   tf_listener_(tf_buffer_)
 {
 }
 
-void Model::onInit()
+void Pose2D::onInit()
 {
   // Read settings from the parameter sever
   device_id_ = fuse_variables::loadDeviceId(private_node_handle_);
@@ -73,21 +70,22 @@ void Model::onInit()
   }
 }
 
-void Model::onStart()
+void Pose2D::onStart()
 {
   if (!params_.position_indices.empty() ||
       !params_.orientation_indices.empty())
   {
-    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, &Pose2D::process, this);
   }
 }
 
-void Model::onStop()
+void Pose2D::onStop()
 {
   subscriber_.shutdown();
 }
 
-void Model::process(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
+void Pose2D::process(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& msg)
 {
   // Create a transaction object
   auto transaction = fuse_core::Transaction::make_shared();
@@ -124,6 +122,4 @@ void Model::process(const geometry_msgs::PoseWithCovarianceStamped::ConstPtr& ms
   sendTransaction(transaction);
 }
 
-}  // namespace pose_2d
-
 }  // namespace fuse_models