Renaming imu_2d

fuse_models/CMakeLists.txt

@@ -93,7 +93,7 @@ include_directories(
 add_library(
   ${PROJECT_NAME}
     src/acceleration_2d.cpp
-    src/imu_2d/model.cpp
+    src/imu_2d.cpp
     src/pose_2d/model.cpp
     src/odometry_2d/model.cpp
     src/odometry_2d/publisher.cpp

fuse_models/fuse_plugins.xml

@@ -20,7 +20,7 @@
     another node
     </description>
   </class>
-  <class type="fuse_models::imu_2d::Model" base_class_type="fuse_core::SensorModel">
+  <class type="fuse_models::Imu2D" base_class_type="fuse_core::SensorModel">
     <description>
     An adapter-type sensor that produces orientation (relative or absolute), angular velocity, and linear
     acceleration constraints from IMU sensor data published by another node

fuse_models/include/fuse_models/imu_2d/model.h → fuse_models/include/fuse_models/imu_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_IMU_2D_MODEL_H
-#define FUSE_MODELS_IMU_2D_MODEL_H
+#ifndef FUSE_MODELS_IMU_2D_H
+#define FUSE_MODELS_IMU_2D_H
 
-#include <fuse_models/parameters/imu_2d_model_params.h>
+#include <fuse_models/parameters/imu_2d_params.h>
 
 #include <fuse_core/async_sensor_model.h>
 #include <fuse_core/uuid.h>
@@ -51,9 +51,6 @@
 namespace fuse_models
 {
 
-namespace imu_2d
-{
-
 /**
  * @brief An adapter-type sensor that produces orientation (relative or absolute), angular velocity, and linear
  * acceleration constraints from IMU sensor data published by another node
@@ -85,21 +82,21 @@ namespace imu_2d
  * Subscribes:
  *  - \p topic (sensor_msgs::Imu) IMU data at a given timestep
  */
-class Model : public fuse_core::AsyncSensorModel
+class Imu2D : public fuse_core::AsyncSensorModel
 {
 public:
-  SMART_PTR_DEFINITIONS(Model);
-  using ParameterType = parameters::Imu2DModelParams;
+  SMART_PTR_DEFINITIONS(Imu2D);
+  using ParameterType = parameters::Imu2DParams;
 
   /**
    * @brief Default constructor
    */
-  Model();
+  Imu2D();
 
   /**
    * @brief Destructor
    */
-  virtual ~Model() = default;
+  virtual ~Imu2D() = default;
 
   /**
    * @brief Callback for pose messages
@@ -140,8 +137,6 @@ class Model : public fuse_core::AsyncSensorModel
   ros::Subscriber subscriber_;
 };
 
-}  // namespace imu_2d
-
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_IMU_2D_MODEL_H
+#endif  // FUSE_MODELS_IMU_2D_H

fuse_models/include/fuse_models/parameters/imu_2d_model_params.h → fuse_models/include/fuse_models/parameters/imu_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_IMU_2D_MODEL_PARAMS_H
-#define FUSE_MODELS_PARAMETERS_IMU_2D_MODEL_PARAMS_H
+#ifndef FUSE_MODELS_PARAMETERS_IMU_2D_PARAMS_H
+#define FUSE_MODELS_PARAMETERS_IMU_2D_PARAMS_H
 
 #include <fuse_models/parameters/parameter_base.h>
 
@@ -52,9 +52,9 @@ namespace parameters
 {
 
 /**
- * @brief Defines the set of parameters required by the imu_2d::Model class
+ * @brief Defines the set of parameters required by the Imu2D class
  */
-struct Imu2DModelParams : public ParameterBase
+struct Imu2DParams : public ParameterBase
 {
   public:
     /**
@@ -109,4 +109,4 @@ struct Imu2DModelParams : public ParameterBase
 
 }  // namespace fuse_models
 
-#endif  // FUSE_MODELS_PARAMETERS_IMU_2D_MODEL_PARAMS_H
+#endif  // FUSE_MODELS_PARAMETERS_IMU_2D_PARAMS_H

fuse_models/src/imu_2d/model.cpp → fuse_models/src/imu_2d.cpp

@@ -32,7 +32,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  */
 #include <fuse_models/common/sensor_proc.h>
-#include <fuse_models/imu_2d/model.h>
+#include <fuse_models/imu_2d.h>
 
 #include <fuse_core/transaction.h>
 #include <fuse_core/uuid.h>
@@ -48,22 +48,19 @@
 
 
 // Register this sensor model with ROS as a plugin.
-PLUGINLIB_EXPORT_CLASS(fuse_models::imu_2d::Model, fuse_core::SensorModel)
+PLUGINLIB_EXPORT_CLASS(fuse_models::Imu2D, fuse_core::SensorModel)
 
 namespace fuse_models
 {
 
-namespace imu_2d
-{
-
-Model::Model() :
+Imu2D::Imu2D() :
   fuse_core::AsyncSensorModel(1),
   device_id_(fuse_core::uuid::NIL),
   tf_listener_(tf_buffer_)
 {
 }
 
-void Model::onInit()
+void Imu2D::onInit()
 {
   // Read settings from the parameter sever
   device_id_ = fuse_variables::loadDeviceId(private_node_handle_);
@@ -79,23 +76,23 @@ void Model::onInit()
   }
 }
 
-void Model::onStart()
+void Imu2D::onStart()
 {
   if (!params_.orientation_indices.empty() ||
       !params_.linear_acceleration_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, &Imu2D::process, this);
   }
 }
 
-void Model::onStop()
+void Imu2D::onStop()
 {
   subscriber_.shutdown();
 }
 
-void Model::process(const sensor_msgs::Imu::ConstPtr& msg)
+void Imu2D::process(const sensor_msgs::Imu::ConstPtr& msg)
 {
   // Create a transaction object
   auto transaction = fuse_core::Transaction::make_shared();
@@ -206,6 +203,4 @@ void Model::process(const sensor_msgs::Imu::ConstPtr& msg)
   sendTransaction(transaction);
 }
 
-}  // namespace imu_2d
-
 }  // namespace fuse_models