renaming: object_tracker -> tracker

Author: wumanu

CMakeLists.txt

@@ -162,7 +162,7 @@ set(dbot_SOURCES
     ${dbot_SOURCE_DIR}/simple_shader_provider.cpp
     ${dbot_SOURCE_DIR}/default_shader_provider.cpp
     ${dbot_SOURCE_DIR}/file_shader_provider.cpp
-    ${dbot_SOURCE_DIR}/tracker/object_tracker.cpp
+    ${dbot_SOURCE_DIR}/tracker/tracker.cpp
     ${dbot_SOURCE_DIR}/tracker/particle_tracker.cpp
     ${dbot_SOURCE_DIR}/tracker/gaussian_tracker.cpp
     ${dbot_SOURCE_DIR}/builder/rb_sensor_builder.cpp

source/dbot/tracker/gaussian_tracker.cpp

@@ -30,7 +30,7 @@ GaussianTracker::GaussianTracker(
     const std::shared_ptr<ObjectModel>& object_model,
     double update_rate,
     bool center_object_frame)
-    : ObjectTracker(object_model, update_rate, center_object_frame),
+    : Tracker(object_model, update_rate, center_object_frame),
       filter_(filter),
       belief_(filter_->create_belief())
 {

source/dbot/tracker/gaussian_tracker.hpp

@@ -29,7 +29,7 @@
 
 #pragma once
 
-#include <dbot/tracker/object_tracker.hpp>
+#include <dbot/tracker/tracker.hpp>
 #include <dbot/model/depth_pixel_model.hpp>
 
 #include <fl/util/types.hpp>
@@ -40,7 +40,7 @@
 
 namespace dbot
 {
-class GaussianTracker : public ObjectTracker
+class GaussianTracker : public Tracker
 {
 public:
     /* ---------------------------------------------------------------------- */

source/dbot/tracker/particle_tracker.cpp

@@ -31,7 +31,7 @@ ParticleTracker::ParticleTracker(
     int evaluation_count,
     double update_rate,
     bool center_object_frame)
-    : ObjectTracker(object_model, update_rate, center_object_frame),
+    : Tracker(object_model, update_rate, center_object_frame),
       filter_(filter),
       evaluation_count_(evaluation_count)
 {

source/dbot/tracker/particle_tracker.hpp

@@ -32,22 +32,21 @@
 
 #include <fl/model/transition/interface/transition_function.hpp>
 
-#include <dbot/tracker/object_tracker.hpp>
+#include <dbot/tracker/tracker.hpp>
 #include <dbot/filter/rao_blackwell_coordinate_particle_filter.hpp>
 
 namespace dbot
 {
 /**
  * \brief ParticleTracker
  */
-class ParticleTracker : public ObjectTracker
+class ParticleTracker : public Tracker
 {
 public:
     typedef fl::TransitionFunction<State, Noise, Input> Transition;
     typedef RbSensor<State> Sensor;
 
-    typedef RaoBlackwellCoordinateParticleFilter<Transition,
-                                                 Sensor> Filter;
+    typedef RaoBlackwellCoordinateParticleFilter<Transition, Sensor> Filter;
 
 public:
     /**

source/dbot/tracker/object_tracker.cpp renamed to source/dbot/tracker/tracker.cpp

@@ -12,11 +12,11 @@
  */
 
 #include <fl/util/profiling.hpp>
-#include <dbot/tracker/object_tracker.hpp>
+#include <dbot/tracker/tracker.hpp>
 
 namespace dbot
 {
-ObjectTracker::ObjectTracker(const std::shared_ptr<ObjectModel> &object_model,
+Tracker::Tracker(const std::shared_ptr<ObjectModel> &object_model,
                              double update_rate,
                              bool center_object_frame)
     : object_model_(object_model),
@@ -26,7 +26,7 @@ ObjectTracker::ObjectTracker(const std::shared_ptr<ObjectModel> &object_model,
 {
 }
 
-void ObjectTracker::initialize(const std::vector<State>& initial_states)
+void Tracker::initialize(const std::vector<State>& initial_states)
 {
     std::lock_guard<std::mutex> lock(mutex_);
 
@@ -39,8 +39,8 @@ void ObjectTracker::initialize(const std::vector<State>& initial_states)
     moving_average_ = to_model_coordinate_system(on_initialize(states));
 }
 
-void ObjectTracker::move_average(const ObjectTracker::State& new_state,
-                                 ObjectTracker::State& moving_average,
+void Tracker::move_average(const Tracker::State& new_state,
+                                 Tracker::State& moving_average,
                                  double update_rate)
 {
     for (int i = 0; i < moving_average.count(); i++)
@@ -68,7 +68,7 @@ void ObjectTracker::move_average(const ObjectTracker::State& new_state,
     }
 }
 
-auto ObjectTracker::track(const Obsrv& image) -> State
+auto Tracker::track(const Obsrv& image) -> State
 {
     std::lock_guard<std::mutex> lock(mutex_);
 
@@ -79,8 +79,8 @@ auto ObjectTracker::track(const Obsrv& image) -> State
     return moving_average_;
 }
 
-auto ObjectTracker::to_center_coordinate_system(
-    const ObjectTracker::State& state) -> State
+auto Tracker::to_center_coordinate_system(
+    const Tracker::State& state) -> State
 {
     if (!center_object_frame_) return state;
 
@@ -96,8 +96,8 @@ auto ObjectTracker::to_center_coordinate_system(
 }
 
 
-auto ObjectTracker::to_model_coordinate_system(
-    const ObjectTracker::State& state) -> State
+auto Tracker::to_model_coordinate_system(
+    const Tracker::State& state) -> State
 {
     if (!center_object_frame_) return state;
 
@@ -112,7 +112,7 @@ auto ObjectTracker::to_model_coordinate_system(
     return model_state;
 }
 
-ObjectTracker::Input ObjectTracker::zero_input() const
+Tracker::Input Tracker::zero_input() const
 {
     return Input::Zero(1);
 }

source/dbot/tracker/object_tracker.hpp renamed to source/dbot/tracker/tracker.hpp

@@ -38,7 +38,7 @@ namespace dbot
 /**
  * \brief Abstract ObjectTracker context
  */
-class ObjectTracker
+class Tracker
 {
 public:
     typedef osr::FreeFloatingRigidBodiesState<> State;
@@ -57,11 +57,11 @@ class ObjectTracker
      * \param update_rate
      *     Moving average update rate
      */
-    ObjectTracker(const std::shared_ptr<ObjectModel>& object_model,
+    Tracker(const std::shared_ptr<ObjectModel>& object_model,
                   double update_rate,
                   bool center_object_frame);
 
-    virtual ~ObjectTracker() { }
+    virtual ~Tracker() { }
 
     /**
      * \brief Hook function which is called during tracking